# hw definition file for processing by chibios_hwdef.py # for FMUv3 hardware # MCU class and specific type MCU STM32F4xx STM32F427xx # board ID for firmware load APJ_BOARD_ID 9 # crystal frequency OSCILLATOR_HZ 24000000 # board voltage STM32_VDD 330U # flash size FLASH_SIZE_KB 2048 # serial port for stdout STDOUT_SERIAL SD7 STDOUT_BAUDRATE 57600 # USB setup USB_VENDOR 0x0483 # ST USB_PRODUCT 0x5740 USB_STRING_MANUFACTURER "ArduPilot" USB_STRING_PRODUCT "%BOARD%" USB_STRING_SERIAL "%SERIAL%" # order of I2C buses I2C_ORDER I2C2 I2C1 # order of UARTs (and USB) UART_ORDER OTG1 UART4 USART2 USART3 UART8 # UART for IOMCU IOMCU_UART USART6 # UART4 serial GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT_CURRENT_SENS ADC1 SCALE(1) PA4 VDD_5V_SENS ADC1 SCALE(2) PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA8 VDD_5V_PERIPH_EN OUTPUT LOW PA9 VBUS INPUT OPENDRAIN # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PA15 ALARM PB0 EXTERN_GPIO1 OUTPUT GPIO(1) PB1 EXTERN_GPIO2 OUTPUT GPIO(2) PB2 BOOT1 INPUT PB3 FMU_SW0 INPUT PB6 CAN2_TX CAN2 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PB12 CAN2_RX CAN2 PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PC0 VBUS_VALID INPUT PC1 MAG_CS CS PC2 MPU_CS CS PC3 AUX_POWER ADC1 SCALE(1) PC4 AUX_ADC2 ADC1 SCALE(1) PC5 PRESSURE_SENS ADC1 SCALE(2) # USART6 to IO PC6 USART6_TX USART6 PC7 USART6_RX USART6 PC8 SDIO_D0 SDIO PC9 SDIO_D1 SDIO PC10 SDIO_D2 SDIO PC11 SDIO_D3 SDIO PC12 SDIO_CK SDIO PC13 GYRO_EXT_CS CS PC14 BARO_EXT_CS CS PC15 ACCEL_EXT_CS CS PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PD2 SDIO_CMD SDIO # USART2 serial2 telem1 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD7 BARO_CS CS # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD10 FRAM_CS CS SPEED_VERYLOW PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) PD15 MPU_DRDY INPUT # UART8 serial4 GPS2 PE0 UART8_RX UART8 PE1 UART8_TX UART8 PE2 SPI4_SCK SPI4 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH PE4 MPU_EXT_CS CS PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # UART7 debug console PE7 UART7_RX UART7 PE8 UART7_TX UART7 PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PE10 VDD_5V_HIPOWER_OC INPUT PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE12 FMU_LED_AMBER OUTPUT GPIO(0) PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PE15 VDD_5V_PERIPH_OC INPUT # 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 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 4*MHZ SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 4*MHZ SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_g SPI1 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_am SPI1 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ # for SPI clock testing #SPIDEV clock500 SPI4 DEVID5 MPU_EXT_CS MODE0 500*KHZ 500*KHZ # gives 329KHz #SPIDEV clock1 SPI4 DEVID5 MPU_EXT_CS MODE0 1*MHZ 1*MHZ # gives 657kHz #SPIDEV clock2 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ # gives 1.3MHz #SPIDEV clock4 SPI4 DEVID5 MPU_EXT_CS MODE0 4*MHZ 4*MHZ # gives 2.6MHz #SPIDEV clock8 SPI4 DEVID5 MPU_EXT_CS MODE0 8*MHZ 8*MHZ # gives 5.5MHz #SPIDEV clock16 SPI4 DEVID5 MPU_EXT_CS MODE0 16*MHZ 16*MHZ # gives 10.6MHz define HAL_CHIBIOS_ARCH_FMUV3 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" define HAL_STORAGE_SIZE 16384 # fallback storage location is flash if no FRAM fitted define STORAGE_FLASH_PAGE 22 # enable RAMTROM parameter storage define HAL_WITH_RAMTRON 1 # pixhawk2 cube has an IMU header define HAL_HAVE_IMU_HEATER 1 # enable FAT filesystem define HAL_OS_FATFS_IO 1 # enable RTSCTS define AP_FEATURE_RTSCTS 1 # enable SBUS_OUT on IOMCU define AP_FEATURE_SBUS_OUT 1 # enable UAVCAN define HAL_WITH_UAVCAN 1 # battery pins 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