mirror of https://github.com/ArduPilot/ardupilot
223 lines
5.3 KiB
Plaintext
223 lines
5.3 KiB
Plaintext
# 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 1096
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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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# USB setup
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USB_STRING_MANUFACTURER "ArduPilot"
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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 I2C3 I2C2 I2C1
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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 UART7
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# UART for IOMCU
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IOMCU_UART USART6
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# UART4 is GPS
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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PA2 BATT_VOLTAGE_SENS ADC1
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PA3 BATT_CURRENT_SENS ADC1
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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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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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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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PB2 BOOT1 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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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# SPI2 is FRAM
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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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PB12 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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PC0 VBUS_nVALID INPUT PULLUP
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PC3 AUX_POWER ADC1 SCALE(1)
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PC4 AUX_ADC2 ADC1 SCALE(1)
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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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PC15 20602_DRDY INPUT
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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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 20608_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_3V3_SENSORS_EN OUTPUT HIGH
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# Now setup SPI bus4.
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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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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PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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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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# SPI1 CS pins
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PE4 42688_EXT_CS CS
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PC14 BARO_EXT_CS CS
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PC13 40605_EXT_CS CS
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PC2 42688_CS CS
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PD7 BARO_CS CS
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PC1 MAG_CS CS
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PB1 SDCARD_CS CS
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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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# 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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PC11 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH
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PC10 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH
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PC12 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH
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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 11
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define HAL_GPIO_B_LED_PIN 12
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define HAL_GPIO_C_LED_PIN 13
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define HAL_HAVE_PIXRACER_LED
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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 ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
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SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 4*MHZ
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SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 4*MHZ
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SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 4*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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IMU Invensensev3 SPI:ICM42688 ROTATION_NONE
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IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE
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IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE
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#ROTATION_ROLL_180_YAW_270
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BARO MS56XX SPI:ms5611
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BARO MS56XX SPI:ms5611_ext
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_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_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 18
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define HAL_BATT_CURR_SCALE 24
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
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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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