ardupilot/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py
# for F4BY v2.1.5 board description http://swift-flyer.com/?page_id=83
# MCU class and specific type
MCU STM32F4xx STM32F407xx
# board ID for firmware load
APJ_BOARD_ID 20
# USB setup
USB_VENDOR 0x27AC # Swift-Flyer
USB_PRODUCT 0x0201 # fmu usb driver
USB_STRING_MANUFACTURER "Swift-Flyer"
FLASH_SIZE_KB 1024
# crystal frequency
OSCILLATOR_HZ 8000000
# this is the STM32 timer that ChibiOS will use for the low level
# driver. This must be a 32 bit timer. We currently only support
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
# ChibiOS system timer
STM32_ST_USE_TIMER 5
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# the normal usage of this ordering is:
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL3: primary GPS
# 3) SERIAL1: telem1
# 4) SERIAL2: telem2
# 5) SERIAL4: GPS2
# 6) SERIAL5: extra UART (usually RTOS debug console)
# use UART for stdout, so no STDOUT_SERIAL
#STDOUT_SERIAL SD5
#STDOUT_BAUDRATE 57600
# this is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN
PA9 VBUS INPUT OPENDRAIN
SERIAL_ORDER OTG1 USART2 USART1 USART3 UART5
# UART1 as board 2.1.5 for serial 3 gps
PB6 USART1_TX USART1
PB7 USART1_RX USART1
# USART2 serial2 telem2
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2
# USART3 serial3 telem1
PD8 USART3_TX USART3 NODMA
PD9 USART3_RX USART3
PC10 UART4_TX UART4 NODMA
PC11 UART4_RX UART4
# SHARE dma with I2C2_TX
PC12 UART5_TX UART5 NODMA
PD2 UART5_RX UART5 NODMA
define HAL_STORAGE_SIZE 16384
#SPI1 for MPU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 MPU_CS CS
# spi bus for dataflash AND SD
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 FRAM_CS CS SPEED_VERYLOW
PE15 FLASH_CS CS
SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ
SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 25*MHZ
# one IMU
IMU Invensense SPI:mpu6000 ROTATION_NONE
# one baro, check both addresses
BARO MS56XX I2C:0:0x76
BARO MS56XX I2C:0:0x77
# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1
# enable FAT filesystem support
define HAL_OS_FATFS_IO 1
# now some defines for logging and terrain data files
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# this defines the default maximum clock on I2C devices.
define HAL_I2C_MAX_CLOCK 100000
I2C_ORDER I2C2 I2C1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
# look for I2C compass
COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
# PWM out pins
PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58)
PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59)
PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60)
PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61)
# also USART6_RX for serial RC
PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0
# LED setup is similar to PixRacer
define HAL_HAVE_PIXRACER_LED
PE3 LED_RED OUTPUT GPIO(10)
PE2 LED_GREEN OUTPUT GPIO(11)
PE1 LED_BLUE OUTPUT GPIO(12)
PE0 LED_YELOW OUTPUT GPIO(13)
define HAL_GPIO_A_LED_PIN 10
define HAL_GPIO_B_LED_PIN 11
define HAL_GPIO_C_LED_PIN 12
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
PC0 PRESSURE_SENS ADC1 SCALE(1)
PC1 RSSI_IN ADC1
PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
PC4 VDD_5V_SENS ADC1 SCALE(2)
PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2)
PE5 TIM9_CH1 TIM9 ALARM
PC14 EXTERN_GPIO1 GPIO(1)
PC13 EXTERN_GPIO2 GPIO(2)
PE4 EXTERN_GPIO3 GPIO(3)
PE6 EXTERN_GPIO4 GPIO(4)
PC9 EXTERN_GPIO5 GPIO(5)
# IRQ for MPU6000
PB0 EXTI_MPU6000 INPUT PULLUP
PB1 DRDY_HMC5883 INPUT PULLUP
define AP_FEATURE_BRD_PWM_COUNT_PARAM 1
define BOARD_PWM_COUNT_DEFAULT 12