ardupilot/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V3/hwdef.dat

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# MCU class and specific type
MCU STM32F4xx STM32F427xx
# board ID for firmware load
APJ_BOARD_ID 1096
# crystal frequency
OSCILLATOR_HZ 24000000
# ChibiOS system timer
STM32_ST_USE_TIMER 5
# flash size
FLASH_SIZE_KB 2048
env OPTIMIZE -O2
# USB setup
USB_STRING_MANUFACTURER "ArduPilot"
# serial port for stdout, disabled so console is on USB
#STDOUT_SERIAL SD7
#STDOUT_BAUDRATE 57600
# order of I2C buses
I2C_ORDER I2C3 I2C2 I2C1
# now the UART order. These map to the hal.uartA to hal.uartF
# objects. If you use a shorter list then HAL_Empty::UARTDriver
# objects are substituted for later UARTs, or you can leave a gap by
# listing one or more of the uarts as EMPTY
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL3: primary GPS
# 3) SERIAL1: telem1
# 4) SERIAL2: telem2
# 5) SERIAL4: GPS2
# 6) SERIAL5: extra UART (usually RTOS debug console)
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7
# UART for IOMCU
IOMCU_UART USART6
# UART4 is GPS
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
PA2 BATT_VOLTAGE_SENS ADC1
PA3 BATT_CURRENT_SENS ADC1
PA4 VDD_5V_SENS ADC1 SCALE(2)
# SPI1 is sensors bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA9 VBUS INPUT
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
PB2 BOOT1 INPUT
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
PA8 I2C3_SCL I2C3
PC9 I2C3_SDA I2C3
# SPI2 is FRAM
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 CAN2_RX CAN2
PB6 CAN2_TX CAN2
PC0 VBUS_nVALID INPUT PULLUP
PC3 AUX_POWER ADC1 SCALE(1)
PC4 AUX_ADC2 ADC1 SCALE(1)
# USART6 to IO
PC6 USART6_TX USART6
PC7 USART6_RX USART6
PC15 20602_DRDY INPUT
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
# USART2 serial2 telem1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
# USART3 serial3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD10 FRAM_CS CS
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PD15 20608_DRDY INPUT
# UART8 serial4 FrSky
PE0 UART8_RX UART8
PE1 UART8_TX UART8
# allow this uart to be inverted for transmit under user control
# the polarity is the value to use on the GPIO to change the polarity
# to the opposite of the default
PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
# Now setup SPI bus4.
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# start peripheral power off, then enable after init
# this prevents a problem with radios that use RTS for
# bootloader hold
PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
# SPI1 CS pins
PE4 42688_EXT_CS CS
PC14 BARO_EXT_CS CS
PC13 40605_EXT_CS CS
PC2 42688_CS CS
PD7 BARO_CS CS
PC1 MAG_CS CS
PB1 SDCARD_CS CS
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp.
PB5 VDD_BRICK_nVALID INPUT PULLUP
PG5 VDD_BRICK2_nVALID INPUT PULLUP
PC11 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH
PC10 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH
PC12 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
define HAL_GPIO_A_LED_PIN 11
define HAL_GPIO_B_LED_PIN 12
define HAL_GPIO_C_LED_PIN 13
define HAL_HAVE_PIXRACER_LED
# SPI device table
SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 4*MHZ
SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 4*MHZ
SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 4*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
define HAL_DEFAULT_INS_FAST_SAMPLE 7
IMU Invensensev3 SPI:ICM42688 ROTATION_NONE
IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE
IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE
#ROTATION_ROLL_180_YAW_270
BARO MS56XX SPI:ms5611
BARO MS56XX SPI:ms5611_ext
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
define HAL_STORAGE_SIZE 16384
define HAL_WITH_RAMTRON 1
# enable FAT filesystem support (needs a microSD defined via SDIO)
define HAL_OS_FATFS_IO 1
# battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 3
define HAL_BATT_VOLT_SCALE 18
define HAL_BATT_CURR_SCALE 24
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45
define HAL_IMUHEAT_P_DEFAULT 50
define HAL_IMUHEAT_I_DEFAULT 0.07
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
# We can't share the IO UART (USART6).
DMA_NOSHARE USART6_TX USART6_RX ADC1
DMA_PRIORITY USART6*
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin