# MCU class and specific type MCU STM32F4xx STM32F427xx # board ID for firmware load APJ_BOARD_ID 1096 # crystal frequency OSCILLATOR_HZ 24000000 # ChibiOS system timer STM32_ST_USE_TIMER 5 # flash size FLASH_SIZE_KB 2048 env OPTIMIZE -O2 # USB setup USB_STRING_MANUFACTURER "ArduPilot" # serial port for stdout, disabled so console is on USB #STDOUT_SERIAL SD7 #STDOUT_BAUDRATE 57600 # order of I2C buses I2C_ORDER I2C3 I2C2 I2C1 # now the UART order. These map to the hal.uartA to hal.uartF # objects. If you use a shorter list then HAL_Empty::UARTDriver # objects are substituted for later UARTs, or you can leave a gap by # listing one or more of the uarts as EMPTY # 1) SERIAL0: console (primary mavlink, usually USB) # 2) SERIAL3: primary GPS # 3) SERIAL1: telem1 # 4) SERIAL2: telem2 # 5) SERIAL4: GPS2 # 6) SERIAL5: extra UART (usually RTOS debug console) # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 # UART for IOMCU IOMCU_UART USART6 # UART4 is GPS PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 NODMA 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 PA9 VBUS INPUT PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PWM output for buzzer PA15 TIM2_CH1 TIM2 GPIO(77) ALARM PB2 BOOT1 INPUT PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PA8 I2C3_SCL I2C3 PC9 I2C3_SDA I2C3 # SPI2 is FRAM PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB12 CAN2_RX CAN2 PB6 CAN2_TX CAN2 PC0 VBUS_nVALID INPUT PULLUP PC3 AUX_POWER ADC1 SCALE(1) PC4 AUX_ADC2 ADC1 SCALE(1) # USART6 to IO PC6 USART6_TX USART6 PC7 USART6_RX USART6 PC15 20602_DRDY INPUT PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 # USART2 serial2 telem1 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD10 FRAM_CS CS 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 20608_DRDY INPUT # UART8 serial4 FrSky PE0 UART8_RX UART8 PE1 UART8_TX UART8 # allow this uart to be inverted for transmit under user control # the polarity is the value to use on the GPIO to change the polarity # to the opposite of the default PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0) PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH # Now setup SPI bus4. PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # start peripheral power off, then enable after init # this prevents a problem with radios that use RTS for # bootloader hold PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP PE15 VDD_5V_PERIPH_nOC INPUT PULLUP # UART7 is debug PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # SPI1 CS pins PE4 42688_EXT_CS CS PC14 BARO_EXT_CS CS PC13 40605_EXT_CS CS PC2 42688_CS CS PD7 BARO_CS CS PC1 MAG_CS CS PB1 SDCARD_CS CS PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) # Power flag pins: these tell the MCU the status of the various power # supplies that are available. The pin names need to exactly match the # names used in AnalogIn.cpp. PB5 VDD_BRICK_nVALID INPUT PULLUP PG5 VDD_BRICK2_nVALID INPUT PULLUP PC11 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH PC10 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH PC12 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 define HAL_GPIO_A_LED_PIN 11 define HAL_GPIO_B_LED_PIN 12 define HAL_GPIO_C_LED_PIN 13 define HAL_HAVE_PIXRACER_LED # SPI device table 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 ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 4*MHZ SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 4*MHZ SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 4*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ define HAL_DEFAULT_INS_FAST_SAMPLE 7 IMU Invensensev3 SPI:ICM42688 ROTATION_NONE IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE #ROTATION_ROLL_180_YAW_270 BARO MS56XX SPI:ms5611 BARO MS56XX SPI:ms5611_ext COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" define HAL_STORAGE_SIZE 16384 define HAL_WITH_RAMTRON 1 # enable FAT filesystem support (needs a microSD defined via SDIO) define HAL_OS_FATFS_IO 1 # battery setup define HAL_BATT_VOLT_PIN 2 define HAL_BATT_CURR_PIN 3 define HAL_BATT_VOLT_SCALE 18 define HAL_BATT_CURR_SCALE 24 define HAL_HAVE_IMU_HEATER 1 define HAL_IMU_TEMP_DEFAULT 45 define HAL_IMUHEAT_P_DEFAULT 50 define HAL_IMUHEAT_I_DEFAULT 0.07 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 # We can't share the IO UART (USART6). DMA_NOSHARE USART6_TX USART6_RX ADC1 DMA_PRIORITY USART6* ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin