mirror of https://github.com/ArduPilot/ardupilot
217 lines
4.5 KiB
Plaintext
217 lines
4.5 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for MindPX-v2 hardware
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# MCU class and specific type
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MCU STM32F4xx STM32F427xx
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2
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# board ID for firmware load
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APJ_BOARD_ID 88
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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STM32_ST_USE_TIMER 5
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# board voltage
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STM32_VDD 330U
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# flash size
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FLASH_SIZE_KB 2048
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# space to reserve for bootloader and storage at start of flash
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FLASH_RESERVE_START_KB 16
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# space to reserve for storage at end of flash
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FLASH_RESERVE_END_KB 0
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# serial port for stdout disabled, uses USB instead
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# STDOUT_SERIAL SD7
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# STDOUT_BAUDRATE 57600
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# order of I2C buses
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I2C_ORDER I2C1 I2C2
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# order of UARTs (and USB)
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UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7
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# UART4 is GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# SPI1 is fram bus
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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# Timers 1-4 are used for (servo) PWM outputs and 5/6 are used for clocks
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# Use Timer 14 for tone generation
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PA7 TIM14_CH1 TIM14 GPIO(32) ALARM
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PA8 RUN_LED OUTPUT GPIO(0)
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PA9 VBUS INPUT
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PA10 SBUS_INV OUTPUT
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM outputs
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PE9 TIM1_CH1 TIM1 PWM(1)
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PE11 TIM1_CH2 TIM1 PWM(2)
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PE13 TIM1_CH3 TIM1 PWM(3)
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PE14 TIM1_CH4 TIM1 PWM(4)
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PD12 TIM4_CH1 TIM4 PWM(5)
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PD13 TIM4_CH2 TIM4 PWM(6)
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PD14 TIM4_CH3 TIM4 PWM(7)
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PD15 TIM4_CH4 TIM4 PWM(8)
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PB4 TIM3_CH1 TIM3 PWM(9) GPIO(50)
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PC7 TIM3_CH2 TIM3 PWM(10) GPIO(51)
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PB0 TIM3_CH3 TIM3 PWM(11) GPIO(52)
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PB1 TIM3_CH4 TIM3 PWM(12) GPIO(53)
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PA15 TIM2_CH1 TIM2 PWM(13) GPIO(54)
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PB3 TIM2_CH2 TIM2 PWM(14) GPIO(55)
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PA2 TIM2_CH3 TIM2 PWM(15)
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PA3 TIM2_CH4 TIM2 PWM(16)
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PB2 GYRO_CS CS
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PB5 SPI1_MOSI SPI1
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# USART1 is SBUS
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# I2C1 is mag I2C
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# I2C2 is FMU I2C
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# SPI2 is external SPI (radio NRF)
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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 BAT_CURR_SENS ADC1
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PC1 FMU_GPIO3 INPUT # RSSI
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PC2 BAT_VOLT_SENS ADC1
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PC3 FMU_ADC1 ADC1
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PC4 FMU_ADC2 ADC1
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PC5 FMU_ADC3 ADC1
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PC6 TIM8_CH1 TIM8 RCIN PULLDOWN 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 ACCEL_DRDY INPUT
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PC14 MAG_DRDY INPUT
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PC15 BARO_CS CS
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PD2 SDIO_CMD SDIO
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# USART2 serial2 telem1
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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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PD7 NRF_CSN INPUT
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# USART3 serial3 telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD10 NRF_INT INPUT
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PD11 ACCEL_MAG_CS CS
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# UART8 is FrSky
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# allow this uart to be inverted for transmit under user control
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# the polarity is the value to use on the GPIO to change the polarity
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# to the opposite of the default
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PB12 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)
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# SPI4 is M_SPI (main sensors)
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PE2 SPI4_SCK SPI4
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PE3 MPU_CS CS
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PE4 GYRO_DRDY INPUT
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# UART7 is debug
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE10 MPU_DRDY INPUT
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PE12 FRAM_CS CS
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PE15 NRF_CS CS
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# SPI device table
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SPIDEV ms5611 SPI4 DEVID1 BARO_CS MODE3 2*MHZ 2*MHZ
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SPIDEV mpu6500 SPI4 DEVID2 MPU_CS MODE3 500*KHZ 4*MHZ
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SPIDEV lsm9ds0_am SPI4 DEVID3 ACCEL_MAG_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_g SPI4 DEVID4 GYRO_CS MODE3 11*MHZ 11*MHZ
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SPIDEV ramtron SPI1 DEVID5 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV radio SPI2 DEVID6 NRF_CS MODE3 2*MHZ 2*MHZ
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# two IMUs
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IMU Invensense SPI:mpu6500 ROTATION_NONE
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IMU LSM9DS0 SPI:lsm9ds0_g SPI:lsm9ds0_am ROTATION_YAW_90 ROTATION_YAW_90 ROTATION_YAW_90
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# one baro
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BARO MS56XX SPI:ms5611
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# two compasses
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COMPASS HMC5843 I2C:0:0x1e false ROTATION_YAW_90
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COMPASS LSM303D SPI:lsm9ds0_am ROTATION_PITCH_180_YAW_270
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_CHIBIOS_ARCH_MINDPXV2 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 storage
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define STORAGE_FLASH_PAGE 22
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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# enable FAT filesystem
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define HAL_OS_FATFS_IO 1
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# enable RTSCTS
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define AP_FEATURE_RTSCTS 1
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# battery setup
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define HAL_BATT_VOLT_PIN 12
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define HAL_BATT_CURR_PIN 10
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# 12 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 12
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