mirror of https://github.com/ArduPilot/ardupilot
hwdef: added MFE_PDB_CAN
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mikefenghao
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## MFE_PDB_CAN
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The MFE_PDB_CAN is sold by a range of resellers listed on the makeflyeasy(http://www.makeflyeasy.com)
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## Features
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• STM32L431CCU6 microcontroller
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• two power for autopilot(5.5V 5A)
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• one power for servo(5.3V 5A)
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• one power for load(12V 5A)
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• Battery monitoring (power1 can, power2 adc)
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## Picture
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Connector pin assignments
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=========================
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power1 ports
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---------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5.5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>VCC</td>
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<td>+5.5V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CAN_H</td>
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<td>SINGAL</td>
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</tr>
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<tr>
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<td>4</td>
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<td>CAN_L</td>
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<td>SINGAL</td>
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</tr>
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<tr>
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<td>5</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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power2 ports
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---------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5.5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>VCC</td>
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<td>+5.5V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CURRENT</td>
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<td>SINGAL</td>
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</tr>
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<tr>
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<td>4</td>
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<td>VALTAGE</td>
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<td>SINGAL</td>
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</tr>
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<tr>
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<td>5</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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power3 pad
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---------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5.3V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>GND</td>
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<td>+GND</td>
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</tr>
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</tbody>
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</table>
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power4 pad
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---------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>GND</td>
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<td>+GND</td>
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</tr>
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</tbody>
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</table>
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Connector pin assignments
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=========================
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BATT_VOLT_MULT 17.93387
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BATT_AMP_PERVLT 22.0
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Where to Buy
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============
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[www.makeflyeasy.com](www.makeflyeasy.com)
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#Default Parameters for the MFE_PDB_CAN
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BATT_AMP_OFFSET 0.01
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BATT_CAPACITY 22000
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# MCU class and specific type
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MCU STM32L431 STM32L431xx
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# board ID for firmware load
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APJ_BOARD_ID 6100
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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FLASH_RESERVE_START_KB 0
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FLASH_BOOTLOADER_LOAD_KB 36
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FLASH_SIZE_KB 256
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# reserve some space for params
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APP_START_OFFSET_KB 4
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# ---------------------------------------------
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PB3 LED_BOOTLOADER OUTPUT LOW # blue
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define HAL_LED_ON 0
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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CAN_ORDER 1
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# ---------------------------------------------
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# make bl baudrate match debug baudrate for easier debugging
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define BOOTLOADER_BAUDRATE 57600
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# use a small bootloader timeout
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define HAL_BOOTLOADER_TIMEOUT 1000
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define HAL_USE_SERIAL FALSE
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 32
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define HAL_USE_EMPTY_IO TRUE
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define PORT_INT_REQUIRED_STACK 64
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define DMA_RESERVE_SIZE 0
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MAIN_STACK 0x800
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PROCESS_STACK 0x800
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# Add CS pins to ensure they are high in bootloader
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PA4 MAG_CS CS
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PB2 SPARE_CS CS
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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# MCU class and specific type
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MCU STM32L431 STM32L431xx
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# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 40
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FLASH_SIZE_KB 256
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# store parameters in pages 18 and 19
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STORAGE_FLASH_PAGE 18
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define HAL_STORAGE_SIZE 800
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# ChibiOS system timer
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STM32_ST_USE_TIMER 15
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define CH_CFG_ST_RESOLUTION 16
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# board ID for firmware load
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APJ_BOARD_ID 6100
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# crystal frequency
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OSCILLATOR_HZ 8000000
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env AP_PERIPH 1
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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define DMA_RESERVE_SIZE 0
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# MAIN_STACK is stack for ISR handlers
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MAIN_STACK 0x300
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# PROCESS_STACK controls stack for main thread
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PROCESS_STACK 0xA00
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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# blue LED0 marked as ACT
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PC13 LED OUTPUT HIGH
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define HAL_LED_ON 1
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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# ---------------------- CAN bus -------------------------
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CAN_ORDER 1
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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define HAL_CAN_POOL_SIZE 6000
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# ---------------------- UARTs ---------------------------
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# | sr0 | MSP | GPS |
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SERIAL_ORDER USART1 USART2 USART3
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# USART1 for debug
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PB6 USART1_TX USART1 SPEED_HIGH
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PB7 USART1_RX USART1 SPEED_HIGH
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# USART2 for MSP
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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# USART3 for GPS
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PB10 USART3_TX USART3 SPEED_HIGH NODMA
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PB11 USART3_RX USART3 SPEED_HIGH NODMA
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# allow for reboot command for faster development
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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define HAL_RCIN_THREAD_ENABLED 1
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# ------------------ BATTERY Monitor -----------------------
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define HAL_PERIPH_ENABLE_BATTERY
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 5
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define HAL_BATT_VOLT_SCALE 17.93387
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define HAL_BATT_CURR_PIN 6
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define HAL_BATT_CURR_SCALE 22.0
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#define HAL_BATT_AMP_OFFSET 0.02
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#define HAL_BATT_CAPACITY 22000
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PB0 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PB1 BATT2_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT2_MONITOR_DEFAULT 0
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define HAL_BATT2_VOLT_PIN 15
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define HAL_BATT2_VOLT_SCALE 17.93387
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define HAL_BATT2_CURR_PIN 16
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define HAL_BATT2_CURR_SCALE 22.0
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