mirror of https://github.com/ArduPilot/ardupilot
159 lines
3.1 KiB
Plaintext
159 lines
3.1 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for mini-pix hardware from RadioLink
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_MINIPIX
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# board ID for firmware load
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APJ_BOARD_ID 3
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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FLASH_SIZE_KB 1024
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# board voltage
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STM32_VDD 330U
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# use USB for stdout, so no STDOUT_SERIAL
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# STDOUT_SERIAL SD2
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# STDOUT_BAUDRATE 57600
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# only one I2C bus
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I2C_ORDER I2C2 I2C1
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# order of UARTs (and USB)
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UART_ORDER OTG1 UART4 USART3 USART2
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# UART4 serial GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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#SPI for MPU6500
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# setup for power brick
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_CURR_PIN 3
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define HAL_BATT_VOLT_SCALE 12.1
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define HAL_BATT_CURR_SCALE 43.0
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PA9 VBUS INPUT OPENDRAIN
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM
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PB2 BOOT1 INPUT
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PB5 VDD_BRICK_VALID INPUT
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PC0 VBUS_VALID INPUT
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PC1 RSSI_IN ADC1
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PC2 LPS22HB_CS CS
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PC3 LED_SAFETY OUTPUT
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PC4 SAFETY_IN INPUT
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PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW # also USART6_RX for serial RC
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PC8 SDIO_D0 SDIO
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PC9 SDIO_D1 SDIO
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PC10 SDIO_D2 SDIO
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PC11 SDIO_D3 SDIO
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PC12 SDIO_CK SDIO
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PC13 SBUS_INV OUTPUT
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PC14 MPU6500_DRDY INPUT
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PC15 MPU6500_CS CS
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PD2 SDIO_CMD SDIO
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# USART2 serial2 telem2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 serial3 telem1
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD10 FRAM_CS CS
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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PD15 LPS22HB_DRDY INPUT
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PE3 VDD_SENSORS_EN OUTPUT HIGH
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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# SPI devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6500_CS MODE3 1*MHZ 8*MHZ
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SPIDEV lps22h SPI2 DEVID3 LPS22HB_CS MODE3 1*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID4 FRAM_CS MODE3 8*MHZ 8*MHZ
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# one baro
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BARO LPS2XH SPI:lps22h
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_PITCH_180
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# one internal compass, plus external probe
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COMPASS QMC5883L I2C:0:0x0D false ROTATION_PITCH_180_YAW_270
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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define HAL_STORAGE_SIZE 16384
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# fallback to flash is no FRAM fitted
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define STORAGE_FLASH_PAGE 22
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# enable FAT filesystem
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define HAL_OS_FATFS_IO 1
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# LED setup is similar to PixRacer
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define HAL_HAVE_PIXRACER_LED
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PB1 LED_RED OUTPUT GPIO(0)
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PC5 LED_GREEN OUTPUT GPIO(1)
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PE12 LED_BLUE OUTPUT GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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