mirror of https://github.com/ArduPilot/ardupilot
190 lines
4.8 KiB
Plaintext
190 lines
4.8 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for FMUv3 hardware
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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 9
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# crystal frequency
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OSCILLATOR_HZ 24000000
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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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# serial port for stdout
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STDOUT_SERIAL SD7
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STDOUT_BAUDRATE 57600
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# USB setup
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USB_VENDOR 0x0483 # ST
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USB_PRODUCT 0x5740
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USB_STRING_MANUFACTURER "ArduPilot"
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USB_STRING_PRODUCT "%BOARD%"
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USB_STRING_SERIAL "%SERIAL%"
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# order of I2C buses
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I2C_ORDER I2C2 I2C1
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# order of UARTs (and USB)
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UART_ORDER OTG1 UART4 USART2 USART3 UART8
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# UART for IOMCU
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IOMCU_UART USART6
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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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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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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 VDD_5V_PERIPH_EN OUTPUT LOW
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PA9 VBUS INPUT OPENDRAIN
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# PA10 IO-debug-console
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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 ALARM
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PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
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PB1 EXTERN_GPIO2 OUTPUT GPIO(2)
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PB2 BOOT1 INPUT
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PB3 FMU_SW0 INPUT
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PB6 CAN2_TX CAN2
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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 CAN2_RX CAN2
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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 VBUS_VALID INPUT
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PC1 MAG_CS CS
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PC2 MPU_CS CS
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PC3 AUX_POWER ADC1 SCALE(1)
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PC4 AUX_ADC2 ADC1 SCALE(1)
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PC5 PRESSURE_SENS ADC1 SCALE(2)
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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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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 GYRO_EXT_CS CS
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PC14 BARO_EXT_CS CS
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PC15 ACCEL_EXT_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 BARO_CS CS
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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 SPEED_VERYLOW
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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 MPU_DRDY INPUT
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# UART8 serial4 GPS2
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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PE2 SPI4_SCK SPI4
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PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
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PE4 MPU_EXT_CS CS
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# UART7 debug console
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PE10 VDD_5V_HIPOWER_OC INPUT
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE12 FMU_LED_AMBER OUTPUT GPIO(0)
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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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PE15 VDD_5V_PERIPH_OC INPUT
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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 ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
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SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ
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SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 4*MHZ
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SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 4*MHZ
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_g SPI1 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_am SPI1 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ
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SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ
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SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ
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SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ
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# for SPI clock testing
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#SPIDEV clock500 SPI4 DEVID5 MPU_EXT_CS MODE0 500*KHZ 500*KHZ # gives 329KHz
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#SPIDEV clock1 SPI4 DEVID5 MPU_EXT_CS MODE0 1*MHZ 1*MHZ # gives 657kHz
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#SPIDEV clock2 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ # gives 1.3MHz
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#SPIDEV clock4 SPI4 DEVID5 MPU_EXT_CS MODE0 4*MHZ 4*MHZ # gives 2.6MHz
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#SPIDEV clock8 SPI4 DEVID5 MPU_EXT_CS MODE0 8*MHZ 8*MHZ # gives 5.5MHz
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#SPIDEV clock16 SPI4 DEVID5 MPU_EXT_CS MODE0 16*MHZ 16*MHZ # gives 10.6MHz
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define HAL_CHIBIOS_ARCH_FMUV3 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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# fallback storage location is flash if no FRAM fitted
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define STORAGE_FLASH_PAGE 22
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# pixhawk2 cube has an IMU header
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define HAL_HAVE_IMU_HEATER 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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# enable SBUS_OUT on IOMCU
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define AP_FEATURE_SBUS_OUT 1
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# enable UAVCAN
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define HAL_WITH_UAVCAN 1
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# battery pins
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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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