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https://github.com/ArduPilot/ardupilot
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HAL_ChibiOS: final base configuration of the Brain VR board 5.2.
- Bootloader (16k) - Tested - 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested - MS5611 driver - Tested - MPU600 driver - Tested - HMC5883 Internal and External - Tested - SD Card - Tested - RAMTRON - Tested - Buzzer (no timer available for tonealarm) - Tested - External LEDs (Arm and GPS) - Tested - OnBord LEDs - Tested - 3 Relay (from 33 to 35) - Tested - Voltage and Current Battery Monitor - Tested - 14 PWM available (GPIO mapped from 50 to 63) - Tested
This commit is contained in:
LukeMike
Andrew Tridgell
parent
2146368e7c
commit
9f3b57f7eb
@ -58,4 +58,3 @@ define HAL_CHIBIOS_ARCH_BRAINV52 1
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define HAL_STORAGE_SIZE 16384
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define HAL_STORAGE_SIZE 16384
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_USE_EMPTY_STORAGE 1
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@ -37,89 +37,90 @@ STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 57600
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STDOUT_BAUDRATE 57600
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#PA0 TIM2_CH1 TIM2 GPIO(77) ALARM # OUT_CH1
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PA0 BUZZER OUTPUT LOW GPIO(32)
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PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50) # PWM_CH0
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PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50)
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PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51) # PWM_CH1
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PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51)
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) # PWM_CH2
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
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PA4 SDCARD_CS CS # CS_SDCARD
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PA4 SDCARD_CS CS
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PA5 SPI1_SCK SPI1 # SPI1_SCK
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1 # SPI1_MISO
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1 # SPI1_MOSI
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PA7 SPI1_MOSI SPI1
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#PA8 # EXP_GIRO_EN
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#PA8
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PA9 VBUS INPUT # USB_VBUS
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PA9 VBUS INPUT
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#P10 # USB_ID
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#P10
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PA11 OTG_FS_DM OTG1 # USBM
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1 # USBP
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD # JTAG_TMS
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD # JTAG_TCK
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PA14 JTCK-SWCLK SWD
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#PA15 # Not connected
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#PA15
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) # PWM_CH4
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) # PWM_CH5
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
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#PB2
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#PB2
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PB3 LED_EXT3 OUTPUT GPIO(5) # Not connected
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PB3 LED_EXT3 OUTPUT GPIO(30)
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PB4 LED_EXT4 OUTPUT GPIO(6) # Not connected
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PB4 LED_EXT4 OUTPUT GPIO(31)
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53) # PWM_CH3
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
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PB6 USART1_TX USART1 # UART1_TX
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1 # UART1_RX
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PB7 USART1_RX USART1
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PB8 I2C1_SCL I2C1 # SCL2/CANRX
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1 # SDA2/CANTX
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2 # SCL
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2 # SDA
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PB11 I2C2_SDA I2C2
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#PB12 # INT_MAG
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#PB12
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PB13 SPI2_SCK SPI2 # SPI2_SCK
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2 # SPI2_MISO
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2 # SPI2_MOSI
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PB15 SPI2_MOSI SPI2
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PC0 BATT_VOLTAGE_SENS ADC1 # ADC12_VBAT
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PC0 BATT_VOLTAGE_SENS ADC1
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PC1 BATT_CURRENT_SENS ADC1 # ADC12_IBAT
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PC1 BATT_CURRENT_SENS ADC1
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#PC2 # CS_GYRO_IMU
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#PC2
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#PC3 # CS_MAG_IMU
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#PC3
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#PC4 # SONAR_IN
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#PC4
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PC5 LED_GREEN OUTPUT GPIO(1) # CMD_LED_RED
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PC5 LED_GREEN OUTPUT GPIO(25)
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#PC6 # SBUS_TX
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#PC6
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PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # SBUS_RX
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PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW
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#PC8
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PC8 RELAY_1 OUTPUT LOW GPIO(33)
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#PC9
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PC9 RELAY_2 OUTPUT LOW GPIO(34)
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PC10 SPI3_SCK SPI3 # SPI3_SCK
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3 # SPI3_MISO
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3 # SPI3_MOSI
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PC12 SPI3_MOSI SPI3
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#PC13 # Not connected
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#PC13
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#PC14 # INT_GYRO_IMU
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#PC14
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#PC15 # INT_MAG_IMU
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#PC15
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#PD0 # SIG_CAN_RX
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#PD0
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#PD1 # SIG_CAN_TX
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#PD1
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#PD2 # CS_EEPROM_IMU
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#PD2
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#PD3 # EXP_INT_GYRO
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#PD3
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#PD4 # UART3_CTS
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#PD4
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PD5 USART2_TX USART2 # UART2_TX
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2 # UART2_RX
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PD6 USART2_RX USART2
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PD7 SBUS_INV OUTPUT # SBUS_EN
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PD7 SBUS_INV OUTPUT
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PD8 USART3_TX USART3 # UART3_TX
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3 # UART3_RX
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PD9 USART3_RX USART3
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#PD10 # NT_GYRO
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#PD10
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#PD11 # UART3_RTS
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#PD11
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PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57) # PWM_CH7
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PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57)
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PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56) # PWM_CH6
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PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56)
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PD15 LED_RED OUTPUT GPIO(0) # CMD_LED_GRN
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PD15 LED_RED OUTPUT GPIO(27)
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PD14 LED_BLUE OUTPUT GPIO(2) # CMD_LED_BLU
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PD14 LED_BLUE OUTPUT GPIO(26)
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PE0 BARO_CS CS # CS_BARO
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PE0 BARO_CS CS
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#PE1 # EXP_EEPROM_WIFI_CS
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#PE1
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#PE2 LED_EXT1 OUTPUT GPIO(3) # OUT_CH3
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PE2 LED_EXT1 OUTPUT GPIO(29)
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#PE3 LED_EXT2 OUTPUT GPIO(4) # OUT_CH2
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PE3 LED_EXT2 OUTPUT GPIO(28)
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#PE4 # OUT_CH0
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PE4 RELAY_3 OUTPUT LOW GPIO(35)
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#PE5 # PWM_IN4
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#PE5 TIM9_CH1 TIM9 PWM(13) GPIO(62)
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#PE6 # PWM_IN5
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#PE6 TIM9_CH2 TIM9 PWM(14) GPIO(63)
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#PE7 # EXP_WIFI_EN
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#PE7
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#PE8 # EXP_WIFI_INT
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#PE8
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PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58) # PWM_CH8
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PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
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PE10 MPU_CS CS # CS_GYRO
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PE10 MPU_CS CS
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PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59) # PWM_CH9
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PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
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PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60) # PWM_CH10
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#PE12
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PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61) # PWM_CH11
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PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60)
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PE15 FRAM_CS CS # CS_EEPROM
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PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
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PE15 FRAM_CS CS
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# SPI device table. The DEVID values are chosen to match the PX4 port
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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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# of ArduPilot so users don't need to re-do their accel and compass calibrations
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@ -146,14 +147,21 @@ define HAL_OS_FATFS_IO 1
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define HAL_GPIO_LED_ON 0
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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_LED_OFF 1
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define HAL_GPIO_A_LED_PIN 2
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define HAL_GPIO_A_LED_PIN 25
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_B_LED_PIN 26
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define HAL_GPIO_C_LED_PIN 0
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define HAL_GPIO_C_LED_PIN 27
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define EXTERNAL_LED_GPS 28
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define EXTERNAL_LED_ARMED 29
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define EXTERNAL_LED_MOTOR1 30
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define EXTERNAL_LED_MOTOR2 31
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define EXTERNAL_LED_ARMED 3
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define RELAY1_PIN_DEFAULT 33
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define EXTERNAL_LED_GPS 4
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define RELAY2_PIN_DEFAULT 34
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define EXTERNAL_LED_MOTOR1 5
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define RELAY3_PIN_DEFAULT 35
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define EXTERNAL_LED_MOTOR2 6
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define HAL_BUZZER_PIN 32
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# battery setup
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# battery setup
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_VOLT_PIN 2
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@ -161,6 +169,8 @@ define HAL_BATT_CURR_PIN 3
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define HAL_BATT_VOLT_SCALE 10.1
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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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define HAL_BATT_CURR_SCALE 17.0
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# 12 PWM available by default
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define STM32_PWM_USE_ADVANCED TRUE
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define BOARD_PWM_COUNT_DEFAULT 12
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# 12 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 14
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