# hwdef for Luminousbees flight board # MCU class and specific type MCU STM32F4xx STM32F427xx # board ID for firmware load APJ_BOARD_ID 11 # crystal frequency OSCILLATOR_HZ 24000000 # ChibiOS system timer STM32_ST_USE_TIMER 5 # flash size FLASH_SIZE_KB 2048 env OPTIMIZE -O3 # serial port for stdout disabled, use USB console # STDOUT_SERIAL SD7 # STDOUT_BAUDRATE 57600 # only one I2C bus I2C_ORDER I2C1 # to match px4 we make the first bus number 1 define HAL_I2C_BUS_BASE 1 define HAL_I2C_INTERNAL_MASK 0 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7 # UART4 is GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 # Battery & current control 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 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD PB2 BOOT1 INPUT PB5 VDD_BRICK_VALID INPUT # USART1 PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6 as led strip control #PB6 USART1_TX USART1 PB7 USART1_RX USART1 # UWB DW1000 PB4 UWB_CS CS PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # SPI2 is FRAM PB10 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PC0 VBUS_VALID INPUT PC4 SAFETY_IN INPUT PULLDOWN PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC PC8 SDIO_D0 SDIO PC9 SDIO_D1 SDIO PC10 SDIO_D2 SDIO PC11 SDIO_D3 SDIO PC12 SDIO_CK SDIO PD2 SDIO_CMD SDIO # USART2 serial2 telem1 connected to ESP PD4 BMI088_ACCEL_CS CS PD3 BMI088_GYRO_CS CS PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD7 BARO_CS CS # PB7 BARO2_CS CS # FOR DPS310 ON FRAME MICRO # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD10 FRAM_CS CS PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) # UART8 PE0 UART8_RX UART8 PE1 UART8_TX UART8 #set up SPI bus4 for UWB PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # UART7 is debug PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52 PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50 PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53 PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51 # 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 # when moving to ChibiOS SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV bmi088_g SPI4 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI4 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ define HAL_CHIBIOS_ARCH_FMUV4 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" define HAL_STORAGE_SIZE 16384 # enable RAMTROM parameter storage define HAL_WITH_RAMTRON 1 # enable FAT filesystem define HAL_OS_FATFS_IO 1 # pixracer has 3 LEDs, Red, Green, Blue define HAL_HAVE_PIXRACER_LED define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 # LED setup for PixracerLED driver PB11 LED_RED OUTPUT GPIO(0) PB1 LED_GREEN OUTPUT GPIO(1) PB3 LED_BLUE OUTPUT GPIO(2) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 # enable RTSCTS define AP_FEATURE_RTSCTS 1 # battery setup define HAL_BATT_VOLT_PIN 2 define HAL_BATT_CURR_PIN 3 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 # setup serial port defaults for ESP8266 define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink2 define HAL_SERIAL5_BAUD 921600 # Set one or two IMUs #IMU Invensense SPI:icm20608 ROTATION_YAW_180 IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # 2 compasses. R15 has LIS3MDL instead of HMC5843 COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180 COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE # also probe all types of external I2C compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES # Barometer ( DPS310 under test on micro frame ) BARO MS56XX SPI:ms5611_int # BARO DPS310 SPI:dps310 # reserve plenty of memory for DMA for LED buffers define DMA_RESERVE_SIZE 32768 # .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'