mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: added ChibiOS support for VR Micro Brain 5.1
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LukeMike
Andrew Tridgell
parent
13d1d281e1
commit
2146368e7c
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# hw definition file for processing by chibios_hwdef.py
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# for VRUBRAINv51 hardware
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# MCU class and specific type
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MCU STM32F4xx STM32F407xx
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# board ID for firmware load
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APJ_BOARD_ID 1351
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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# flash size
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FLASH_SIZE_KB 1024
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# board voltage
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STM32_VDD 330U
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# USB setup
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USB_VENDOR 0x27AC
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USB_PRODUCT 0x1351
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USB_STRING_MANUFACTURER "Laser Navigation"
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USB_STRING_SERIAL "%SERIAL%"
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# don't allow bootloader to use more than 16k
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FLASH_USE_MAX_KB 16
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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define FLASH_BOOTLOADER_LOAD_KB 16
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#define FLASH_BOOTLOADER_LOAD_KB 32
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# order of UARTs (and USB)
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UART_ORDER OTG1
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PA9 VBUS INPUT
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PD14 LED_BOOTLOADER OUTPUT
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PC5 LED_ACTIVITY OUTPUT
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define HAL_LED_ON 0
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define HAL_CHIBIOS_ARCH_UBRAINV51 1
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define HAL_STORAGE_SIZE 15360
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define HAL_USE_EMPTY_STORAGE 1
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# hw definition file for processing by chibios_hwdef.py
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# for VRUBRAINv51 hardware
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51
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# MCU class and specific type
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MCU STM32F4xx STM32F407xx
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# board ID for firmware load
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APJ_BOARD_ID 1351
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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# flash size
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FLASH_SIZE_KB 1024
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# board voltage
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STM32_VDD 330U
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# USB setup
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USB_VENDOR 0x27AC
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USB_PRODUCT 0x1351
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USB_STRING_MANUFACTURER "Laser Navigation"
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USB_STRING_SERIAL "%SERIAL%"
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# only one I2C bus
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I2C_ORDER I2C2 I2C1
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# order of UARTs (and USB)
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UART_ORDER OTG1 USART1 USART3 USART2
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STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 57600
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#PA0 TIM2_CH1 TIM2 GPIO(77) ALARM # OUT_CH1
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PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50) # PWM_CH0
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PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51) # PWM_CH1
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) # PWM_CH2
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PA4 SDCARD_CS CS # CS_SDCARD
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PA5 SPI1_SCK SPI1 # SPI1_SCK
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PA6 SPI1_MISO SPI1 # SPI1_MISO
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PA7 SPI1_MOSI SPI1 # SPI1_MOSI
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#PA8 # Not connected
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PA9 VBUS INPUT # USB_VBUS
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#P10 # USB_ID
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PA11 OTG_FS_DM OTG1 # USBM
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PA12 OTG_FS_DP OTG1 # USBP
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PA13 JTMS-SWDIO SWD # JTAG_TMS
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PA14 JTCK-SWCLK SWD # JTAG_TCK
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#PA15 # Not connected
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) # PWM_CH4
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) # PWM_CH5
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#PB2
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PB3 LED_EXT3 OUTPUT GPIO(5) # Not connected
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PB4 LED_EXT4 OUTPUT GPIO(6) # Not connected
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53) # PWM_CH3
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PB6 USART1_TX USART1 # UART1_TX
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PB7 USART1_RX USART1 # UART1_RX
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PB8 I2C1_SCL I2C1 # SCL2/CANRX
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PB9 I2C1_SDA I2C1 # SDA2/CANTX
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PB10 I2C2_SCL I2C2 # SCL
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PB11 I2C2_SDA I2C2 # SDA
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#PB12 # Not connected
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PB13 SPI2_SCK SPI2 # SPI2_SCK
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PB14 SPI2_MISO SPI2 # SPI2_MISO
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PB15 SPI2_MOSI SPI2 # SPI2_MOSI
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PC0 BATT_VOLTAGE_SENS ADC1 # ADC12_VBAT
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#PC1 # Not connected
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#PC2 # Not connected
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#PC3 # Not connected
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#PC4 # Not connected
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PC5 LED_GREEN OUTPUT GPIO(1) # CMD_LED_RED
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#PC6 # SBUS_TX
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PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # SBUS_RX
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#PC8
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#PC9
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PC10 SPI3_SCK SPI3 # SPI3_SCK
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PC11 SPI3_MISO SPI3 # SPI3_MISO
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PC12 SPI3_MOSI SPI3 # SPI3_MOSI
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#PC13 # Not connected
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#PC14 # Not connected
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#PC15 # Not connected
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#PD0 # Not connected
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#PD1 # Not connected
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#PD2 # Not connected
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#PD3 # UART3_EN
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#PD4 # UART3_CTS
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PD5 USART2_TX USART2 # Not connected
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PD6 USART2_RX USART2 # Not connected
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PD7 SBUS_INV OUTPUT # Not connected
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PD8 USART3_TX USART3 # UART3_TX
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PD9 USART3_RX USART3 # UART3_RX
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#PD10 # NT_GYRO
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#PD11 # Not connected
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PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57) # PWM_CH7
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PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56) # PWM_CH6
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PD15 LED_RED OUTPUT GPIO(0) # CMD_LED_GRN
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PD14 LED_BLUE OUTPUT GPIO(2) # CMD_LED_BLU
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PE0 BARO_CS CS # CS_BARO
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#PE1 # EXP_EEPROM_WIFI_CS
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#PE2 LED_EXT1 OUTPUT GPIO(3) # OUT_CH3
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#PE3 LED_EXT2 OUTPUT GPIO(4) # OUT_CH2
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#PE4 # Not connected
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#PE5 # PWM_IN4
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#PE6 # PWM_IN5
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#PE7 # EXP_WIFI_EN
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#PE8 # EXP_WIFI_INT
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PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58) # PWM_CH8
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PE10 MPU_CS CS # CS_GYRO
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PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59) # PWM_CH9
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PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60) # PWM_CH10
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PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61) # PWM_CH11
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#PE15 # CS_EEPROM
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# SPI device table. The DEVID values are chosen to match the PX4 port
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# of ArduPilot so users don't need to re-do their accel and compass calibrations
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# when moving to ChibiOS
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV mpu6000 SPI2 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ
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#SPIDEV ramtron SPI3 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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define HAL_CHIBIOS_ARCH_UBRAINV51 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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define HAL_STORAGE_SIZE 15360
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define HAL_USE_EMPTY_STORAGE 1
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#define STORAGE_FLASH_PAGE 2
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# reserve 16k for bootloader and 16k for flash storage
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#FLASH_RESERVE_START_KB 32
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# enable RAMTROM parameter storage
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#define HAL_WITH_RAMTRON 1
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# enable FAT filesystem
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define HAL_OS_FATFS_IO 1
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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define HAL_GPIO_A_LED_PIN 2
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 0
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define EXTERNAL_LED_ARMED 3
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define EXTERNAL_LED_GPS 4
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define EXTERNAL_LED_MOTOR1 5
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define EXTERNAL_LED_MOTOR2 6
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# battery setup
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_CURR_PIN -1
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# 12 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 12
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