mirror of https://github.com/ArduPilot/ardupilot
211 lines
4.3 KiB
Plaintext
Executable File
211 lines
4.3 KiB
Plaintext
Executable File
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# MCU class and specific type
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MCU STM32F7xx STM32F767xx
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# board ID for firmware load
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APJ_BOARD_ID 1131
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# crystal frequency
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OSCILLATOR_HZ 24000000
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USB_STRING_MANUFACTURER "Dheeran labs"
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USB_STRING_PRODUCT "PixFlamingo"
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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#define CH_CFG_ST_RESOLUTION 16
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# flash size
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 96
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env OPTIMIZE -O2
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# serial port for stdout disabled, use USB console
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# STDOUT_SERIAL SD7
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# STDOUT_BAUDRATE 57600
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# only one I2C bus
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I2C_ORDER I2C2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART3 USART6 USART1 EMPTY UART7 USART2
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#define HAL_SERIAL4_PROTOCOL SerialProtocol_RCIN
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#define HAL_SERIAL4_BAUD 115
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# debug on LUART1
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#STDOUT_SERIAL SD4
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#STDOUT_BAUDRATE 57600
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
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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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PA7 SPI1_MOSI SPI1
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PA9 VBUS INPUT
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART3 serial1 telem1
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PB13 USART3_CTS USART3
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PB14 USART3_RTS USART3
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# USART2 serial2 telem2
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2 NODMA
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# USART1 is GPS
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PB6 USART1_TX USART1 NODMA
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PB7 USART1_RX USART1
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define HAL_USE_SERIAL TRUE
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PB4 UART7_TX UART7 NODMA
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PB3 UART7_RX UART7 NODMA
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#define STM32_SERIAL_USE_USART2 TRUE
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM output for buzzer
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PB0 TIM3_CH3 TIM3 RCININT PULLDOWN LOW
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PE2 BOOT1 INPUT
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PB12 VDD_BRICK_VALID INPUT PULLDOWN
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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PA8 CAN3_RX CAN3
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PA15 CAN3_TX CAN3
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# SPI2 is for sensors
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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PD0 IMU1_CS CS
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PE0 MPU6500_CS CS
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PB5 BARO_CS CS
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PD7 MAG_CS CS
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# This defines more ADC inputs.
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PC4 AUX_POWER ADC1 SCALE(1)
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PC5 AUX_ADC2 ADC1 SCALE(1)
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PD10 VBUS_VALID INPUT PULLDOWN
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PE12 LED_SAFETY OUTPUT
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PE15 SAFETY_IN INPUT PULLDOWN
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PC14 VDD_PERIPH_EN OUTPUT HIGH
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PC8 SDMMC_D0 SDMMC1
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PC9 SDMMC_D1 SDMMC1
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PC10 SDMMC_D2 SDMMC1
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PC11 SDMMC_D3 SDMMC1
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PC12 SDMMC_CK SDMMC1
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PD2 SDMMC_CMD SDMMC1
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PE5 IMU1_DRDY INPUT
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PE6 MPU6500_DRDY INPUT
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PE4 MAG_DRDY INPUT
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PC13 VDD_SENSORS_EN OUTPUT HIGH
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# GPIOs
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PE3 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HAVE_IMU_HEATER 1
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PD12 TIM4_CH1 TIM4 GPIO(32) ALARM
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PB9 EXTERN_GPIO1 OUTPUT GPIO(4)
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)
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PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55)
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PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56)
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PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57)
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PB8 TIM10_CH1 TIM10 PWM(9) GPIO(58) NODMA
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PB15 TIM8_CH3N TIM8 PWM(10) GPIO(59) NODMA
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# SPI device table.
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SPIDEV icm42670 SPI2 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV mpu6500 SPI2 DEVID2 MPU6500_CS MODE3 1*MHZ 4*MHZ
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SPIDEV ms5611_int SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV lis3mdl SPI2 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
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SPIDEV bmp280 SPI1 DEVID3 BARO_CS MODE3 1*MHZ 8*MHZ
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SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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# enable FAT filesystem
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define HAL_OS_FATFS_IO 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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# pixracer has 3 LEDs, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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PE10 LED_RED OUTPUT GPIO(0)
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PE8 LED_GREEN OUTPUT GPIO(1)
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PE7 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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# battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 11
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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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DMA_PRIORITY S*
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define STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 32768
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# two IMUs
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IMU Invensensev3 SPI:icm42670 ROTATION_YAW_270 #ROTATION_YAW_180 #ROTATION_ROLL_180_YAW_270 #ROTATION_YAW_90 #ROTATION_YAW_270 #ROTATION_ROLL_180
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IMU Invensense SPI:mpu6500 ROTATION_ROLL_180
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
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# also probe all types of external I2C compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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#NODMA I2C*
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define STM32_I2C_USE_DMA FALSE
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# one barometer
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BARO MS56XX SPI:ms5611_int
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BARO BMP280 SPI:bmp280
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BARO DPS310 SPI:dps310
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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