mirror of https://github.com/ArduPilot/ardupilot
247 lines
5.8 KiB
Plaintext
247 lines
5.8 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for FMUv4pro hardware (Pixhawk 3 Pro)
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define BOARD_TYPE_DEFAULT 14
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# MCU class and specific type
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MCU STM32F4xx STM32F469xx
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# board ID for firmware load
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APJ_BOARD_ID 13
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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
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O2
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# serial port for stdout, disabled so console is on USB
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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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# now the UART order. These map to the hal.uartA to hal.uartF
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# objects. If you use a shorter list then HAL_Empty::UARTDriver
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# objects are substituted for later UARTs, or you can leave a gap by
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# listing one or more of the uarts as EMPTY
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# 1) SERIAL0: console (primary mavlink, usually USB)
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# 2) SERIAL3: primary GPS
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# 3) SERIAL1: telem1
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# 4) SERIAL2: telem2
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# 5) SERIAL4: GPS2
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# 6) SERIAL5: extra UART (usually RTOS debug console)
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
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# UART for IOMCU
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IOMCU_UART USART6
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# we have a safety switch on IO
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define HAL_HAVE_SAFETY_SWITCH 1
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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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# battery connectors
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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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# VDD sense pin. This is used to sense primary board voltags
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# SPI1 is sensors 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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# SPI1 CS pins
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PC2 MPU9250_CS CS
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PC15 20608_CS CS
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PD7 BARO_CS CS
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PE15 MAG_CS CS
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PH5 EEPROM_CS CS
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PA9 VBUS INPUT OPENDRAIN
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# now we define the pins that USB is connected on
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
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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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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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# this defines a couple of general purpose outputs, mapped to GPIO
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# numbers 1 and 2 for users
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# PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
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# PB1 EXTERN_GPIO2 OUTPUT GPIO(2)
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#PB0 INPUT PULLUP # RC Input PPM
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PB1 LED_GREEN OUTPUT GPIO(0)
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PB2 BOOT1 INPUT
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PB3 LED_BLUE OUTPUT GPIO(1)
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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PA8 USART1_RTS USART1
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# PE10 is not a hw CTS pin for USART1
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PE10 8266_CTS INPUT
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# make GPIOs for ESP8266 available via mavlink relay control as pins
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# 60 to 63
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PB4 8266_GPIO2 OUTPUT GPIO(60)
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PE2 8266_GPI0 INPUT PULLUP GPIO(61)
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PE5 8266_PD OUTPUT HIGH GPIO(62)
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PE6 8266_RST OUTPUT HIGH GPIO(63)
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# SPI2 is FRAM
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PB10 SPI2_SCK SPI2
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PB11 LED_RED OUTPUT GPIO(2)
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PC0 VBUS_nVALID INPUT PULLUP
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PC1 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PC3 BATT2_CURRENT_SENS ADC1 SCALE(1)
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#PC4 SAFETY_IN INPUT PULLDOWN
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# this sets up the UART for talking to the IOMCU. Note that it is
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# vital that this UART has DMA available. See the DMA settings below
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# for more information
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# USART6 to IO
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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# now setup the pins for the microSD card, if available
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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 20608_DRDY INPUT
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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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# USART3 serial3 telem2
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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 MPU9250_DRDY INPUT
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# UART8 serial4 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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PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)
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PE3 VDD_SENSORS_EN OUTPUT HIGH
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# start peripheral power off, then enable after init
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# this prevents a problem with radios that use RTS for
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# bootloader hold
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PC5 VDD_5V_WIFI_EN OUTPUT HIGH
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PF4 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PG10 nVDD_5V_PERIPH_EN OUTPUT HIGH
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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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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PE12 MAG_DRDY INPUT
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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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# Power flag pins: these tell the MCU the status of the various power
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# supplies that are available. The pin names need to exactly match the
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# names used in AnalogIn.cpp.
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PB5 VDD_BRICK_nVALID INPUT PULLUP
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PG5 VDD_BRICK2_nVALID INPUT PULLUP
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PF3 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PG4 VDD_5V_PERIPH_nOC INPUT PULLUP
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# SPI device table
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ
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SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ
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SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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# two IMUs
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
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IMU Invensense SPI:mpu9250 ROTATION_ROLL_180_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 AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_CHIBIOS_ARCH_FMUV4PRO 1
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define HAL_STORAGE_SIZE 16384
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define HAL_WITH_RAMTRON 1
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# enable FAT filesystem support (needs a microSD defined via SDIO)
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define HAL_OS_FATFS_IO 1
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# battery setup
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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 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# setup serial port defaults for ESP8266
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
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define DEFAULT_SERIAL5_BAUD 921600
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# We can't share the IO UART (USART6).
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DMA_NOSHARE USART6_TX USART6_RX ADC1
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DMA_PRIORITY USART6*
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
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