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HAL_ChibiOS: final base configuration of the Brain VR Micro Brain 5.1. 

- Bootloader (32k) - Tested
- 3 UART (GPS, Telemetry and AUX - debug enable on Telemetry) - Tested
- MS5611 driver - Tested
- MPU600 driver - Tested
- HMC5883 External - Tested
- SD Card - Tested
- Parameters on Flash (32k reserved) - Tested
- Buzzer (no timer available for tonealarm) - Tested
- External LEDs (Arm and GPS) - Tested
- OnBord LEDs - Tested
- 2 Relay (from 33 to 34) - Tested
- Voltage Battery Monitor - Tested
- 14 PWM available (GPIO mapped from 50 to 63) - Tested
This commit is contained in:
LukeMike 2019-01-16 08:56:24 +01:00 committed by Andrew Tridgell
parent 9f3b57f7eb
commit aa0a2aaba2
2 changed files with 101 additions and 93 deletions
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3
libraries/AP_HAL_ChibiOS/hwdef/vrubrain-v51/hwdef-bl.dat
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@ -31,8 +31,7 @@ FLASH_USE_MAX_KB 16
FLASH_RESERVE_START_KB 0
# the location where the bootloader will put the firmware
define FLASH_BOOTLOADER_LOAD_KB 16
#define FLASH_BOOTLOADER_LOAD_KB 32
define FLASH_BOOTLOADER_LOAD_KB 64
# ChibiOS system timer
STM32_ST_USE_TIMER 5

191
libraries/AP_HAL_ChibiOS/hwdef/vrubrain-v51/hwdef.dat
View File

@ -37,89 +37,90 @@ STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600
#PA0 TIM2_CH1 TIM2 GPIO(77) ALARM # OUT_CH1
PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50) # PWM_CH0
PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51) # PWM_CH1
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) # PWM_CH2
PA4 SDCARD_CS CS # CS_SDCARD
PA5 SPI1_SCK SPI1 # SPI1_SCK
PA6 SPI1_MISO SPI1 # SPI1_MISO
PA7 SPI1_MOSI SPI1 # SPI1_MOSI
#PA8 # Not connected
PA9 VBUS INPUT # USB_VBUS
#P10 # USB_ID
PA11 OTG_FS_DM OTG1 # USBM
PA12 OTG_FS_DP OTG1 # USBP
PA13 JTMS-SWDIO SWD # JTAG_TMS
PA14 JTCK-SWCLK SWD # JTAG_TCK
#PA15 # Not connected
PA0 BUZZER OUTPUT LOW GPIO(32)
PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50)
PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PA4 SDCARD_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
#PA8
PA9 VBUS INPUT
#P10
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
#PA15
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) # PWM_CH4
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) # PWM_CH5
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
#PB2
PB3 LED_EXT3 OUTPUT GPIO(5) # Not connected
PB4 LED_EXT4 OUTPUT GPIO(6) # Not connected
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53) # PWM_CH3
PB6 USART1_TX USART1 # UART1_TX
PB7 USART1_RX USART1 # UART1_RX
PB8 I2C1_SCL I2C1 # SCL2/CANRX
PB9 I2C1_SDA I2C1 # SDA2/CANTX
PB10 I2C2_SCL I2C2 # SCL
PB11 I2C2_SDA I2C2 # SDA
#PB12 # Not connected
PB13 SPI2_SCK SPI2 # SPI2_SCK
PB14 SPI2_MISO SPI2 # SPI2_MISO
PB15 SPI2_MOSI SPI2 # SPI2_MOSI
PB3 LED_EXT3 OUTPUT GPIO(30)
PB4 LED_EXT4 OUTPUT GPIO(31)
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
PB6 USART1_TX USART1
PB7 USART1_RX USART1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
#PB12
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PC0 BATT_VOLTAGE_SENS ADC1 # ADC12_VBAT
#PC1 # Not connected
#PC2 # Not connected
#PC3 # Not connected
#PC4 # Not connected
PC5 LED_GREEN OUTPUT GPIO(1) # CMD_LED_RED
#PC6 # SBUS_TX
PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # SBUS_RX
#PC8
#PC9
PC10 SPI3_SCK SPI3 # SPI3_SCK
PC11 SPI3_MISO SPI3 # SPI3_MISO
PC12 SPI3_MOSI SPI3 # SPI3_MOSI
#PC13 # Not connected
#PC14 # Not connected
#PC15 # Not connected
PC0 BATT_VOLTAGE_SENS ADC1
#PC1
#PC2
#PC3
#PC4
PC5 LED_GREEN OUTPUT GPIO(25)
#PC6
PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW
PC8 RELAY_1 OUTPUT LOW GPIO(33)
PC9 RELAY_2 OUTPUT LOW GPIO(34)
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
#PC13
#PC14
#PC15
#PD0 # Not connected
#PD1 # Not connected
#PD2 # Not connected
#PD3 # UART3_EN
#PD4 # UART3_CTS
PD5 USART2_TX USART2 # Not connected
PD6 USART2_RX USART2 # Not connected
PD7 SBUS_INV OUTPUT # Not connected
PD8 USART3_TX USART3 # UART3_TX
PD9 USART3_RX USART3 # UART3_RX
#PD10 # NT_GYRO
#PD11 # Not connected
PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57) # PWM_CH7
PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56) # PWM_CH6
PD15 LED_RED OUTPUT GPIO(0) # CMD_LED_GRN
PD14 LED_BLUE OUTPUT GPIO(2) # CMD_LED_BLU
#PD0
#PD1
#PD2
#PD3
#PD4
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD7 SBUS_INV OUTPUT
PD8 USART3_TX USART3
PD9 USART3_RX USART3
#PD10
#PD11
PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57)
PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56)
PD15 LED_RED OUTPUT GPIO(27)
PD14 LED_BLUE OUTPUT GPIO(26)
PE0 BARO_CS CS # CS_BARO
#PE1 # EXP_EEPROM_WIFI_CS
#PE2 LED_EXT1 OUTPUT GPIO(3) # OUT_CH3
#PE3 LED_EXT2 OUTPUT GPIO(4) # OUT_CH2
#PE4 # Not connected
#PE5 # PWM_IN4
#PE6 # PWM_IN5
#PE7 # EXP_WIFI_EN
#PE8 # EXP_WIFI_INT
PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58) # PWM_CH8
PE10 MPU_CS CS # CS_GYRO
PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59) # PWM_CH9
PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60) # PWM_CH10
PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61) # PWM_CH11
#PE15 # CS_EEPROM
PE0 BARO_CS CS
#PE1
PE2 LED_EXT1 OUTPUT GPIO(29)
PE3 LED_EXT2 OUTPUT GPIO(28)
#PE4
#PE5 TIM9_CH1 TIM9 PWM(13) GPIO(62)
#PE6 TIM9_CH2 TIM9 PWM(14) GPIO(63)
#PE7
#PE8
PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
PE10 MPU_CS CS
PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
#PE12
PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60)
PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
#PE15
# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
@ -135,10 +136,9 @@ define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
define HAL_STORAGE_SIZE 15360
define HAL_USE_EMPTY_STORAGE 1
#define STORAGE_FLASH_PAGE 2
# reserve 16k for bootloader and 16k for flash storage
#FLASH_RESERVE_START_KB 32
define STORAGE_FLASH_PAGE 2
# reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64
# enable RAMTROM parameter storage
#define HAL_WITH_RAMTRON 1
@ -149,14 +149,21 @@ define HAL_OS_FATFS_IO 1
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
define HAL_GPIO_A_LED_PIN 2
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 0
define HAL_GPIO_A_LED_PIN 25
define HAL_GPIO_B_LED_PIN 26
define HAL_GPIO_C_LED_PIN 27
define EXTERNAL_LED_GPS 28
define EXTERNAL_LED_ARMED 29
define EXTERNAL_LED_MOTOR1 30
define EXTERNAL_LED_MOTOR2 31
define EXTERNAL_LED_ARMED 3
define EXTERNAL_LED_GPS 4
define EXTERNAL_LED_MOTOR1 5
define EXTERNAL_LED_MOTOR2 6
define RELAY1_PIN_DEFAULT 33
define RELAY2_PIN_DEFAULT 34
#define RELAY3_PIN_DEFAULT 35
define HAL_BUZZER_PIN 32
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0
# battery setup
define HAL_BATT_VOLT_PIN 2
@ -164,6 +171,8 @@ define HAL_BATT_CURR_PIN -1
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
# 12 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 12
define STM32_PWM_USE_ADVANCED TRUE
# 12 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 14