mirror of https://github.com/ArduPilot/ardupilot
169 lines
3.6 KiB
Plaintext
169 lines
3.6 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for VRBRAINv54 hardware
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54
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# MCU class and specific type
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MCU STM32F4xx STM32F427xx
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# board ID for firmware load
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APJ_BOARD_ID 1154
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# flash size
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FLASH_SIZE_KB 2048
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# USB setup
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USB_VENDOR 0x27AC
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USB_PRODUCT 0x1154
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USB_STRING_MANUFACTURER "Laser Navigation"
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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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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SERIAL_ORDER OTG1 USART3 USART2 USART1
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STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 57600
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PA0 BUZZER OUTPUT LOW GPIO(32)
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PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50)
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PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51)
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
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PA4 SDCARD_CS CS
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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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#PA8
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PA9 VBUS INPUT
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#P10
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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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#PA15
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
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#PB2
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PB3 LED_EXT3 OUTPUT GPIO(30)
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PB4 LED_EXT4 OUTPUT GPIO(31)
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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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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#PB12
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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 BATT_VOLTAGE_SENS ADC1
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PC1 BATT_CURRENT_SENS ADC1
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#PC2
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#PC3
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#PC4
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PC5 LED_GREEN OUTPUT GPIO(25)
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#PC6
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PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW
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PC8 RELAY_1 OUTPUT LOW GPIO(33)
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PC9 RELAY_2 OUTPUT LOW GPIO(34)
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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#PC13
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#PC14
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#PC15
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#PD0
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#PD1
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#PD2
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#PD3
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#PD4
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD7 SBUS_INV OUTPUT
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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#PD10
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#PD11
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PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57)
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PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56)
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PD15 LED_RED OUTPUT GPIO(27)
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PD14 LED_BLUE OUTPUT GPIO(26)
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PE0 BARO_CS CS
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#PE1
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PE2 LED_EXT1 OUTPUT GPIO(29)
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PE3 LED_EXT2 OUTPUT GPIO(28)
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PE4 RELAY_3 OUTPUT LOW GPIO(35)
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#PE5 TIM9_CH1 TIM9 PWM(13) GPIO(62)
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#PE6 TIM9_CH2 TIM9 PWM(14) GPIO(63)
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#PE7
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#PE8
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PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
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PE10 MPU_CS CS
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PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
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#PE12
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PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60)
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PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
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PE15 FRAM_CS CS
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# SPI device table. The DEVID values are chosen to match the PX4 port
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# of ArduPilot so users don't need to re-do their accel and compass calibrations
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# when moving to ChibiOS
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV mpu6000 SPI2 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ramtron SPI3 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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define HAL_CHIBIOS_ARCH_BRAINV54 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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# enable FAT filesystem
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define HAL_OS_FATFS_IO 1
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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define HAL_GPIO_A_LED_PIN 25
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define HAL_GPIO_B_LED_PIN 26
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define HAL_GPIO_C_LED_PIN 27
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define EXTERNAL_LED_GPS 28
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define EXTERNAL_LED_ARMED 29
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define EXTERNAL_LED_MOTOR1 30
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define EXTERNAL_LED_MOTOR2 31
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define RELAY1_PIN_DEFAULT 33
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define RELAY2_PIN_DEFAULT 34
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define RELAY3_PIN_DEFAULT 35
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define HAL_BUZZER_PIN 32
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# battery setup
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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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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define STM32_PWM_USE_ADVANCED TRUE
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