mirror of https://github.com/ArduPilot/ardupilot
174 lines
3.6 KiB
Plaintext
174 lines
3.6 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
# for VRBRAINv54 hardware
|
|
|
|
define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F4xx STM32F427xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1154
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
|
|
# flash size
|
|
FLASH_SIZE_KB 2048
|
|
|
|
|
|
# USB setup
|
|
USB_VENDOR 0x27AC
|
|
USB_PRODUCT 0x1154
|
|
USB_STRING_MANUFACTURER "Laser Navigation"
|
|
USB_STRING_SERIAL "%SERIAL%"
|
|
|
|
# ChibiOS system timer
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
# only one I2C bus
|
|
I2C_ORDER I2C2 I2C1
|
|
|
|
# order of UARTs (and USB)
|
|
UART_ORDER OTG1 USART1 USART3 USART2
|
|
STDOUT_SERIAL SD3
|
|
STDOUT_BAUDRATE 57600
|
|
|
|
|
|
PA0 BUZZER OUTPUT LOW GPIO(32)
|
|
PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50)
|
|
PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51)
|
|
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
|
|
PA4 SDCARD_CS CS
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
#PA8
|
|
PA9 VBUS INPUT
|
|
#P10
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
#PA15
|
|
|
|
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
|
|
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
|
|
#PB2
|
|
PB3 LED_EXT3 OUTPUT GPIO(30)
|
|
PB4 LED_EXT4 OUTPUT GPIO(31)
|
|
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
|
|
PB6 USART1_TX USART1
|
|
PB7 USART1_RX USART1
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
#PB12
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
PC0 BATT_VOLTAGE_SENS ADC1
|
|
PC1 BATT_CURRENT_SENS ADC1
|
|
#PC2
|
|
#PC3
|
|
#PC4
|
|
PC5 LED_GREEN OUTPUT GPIO(25)
|
|
#PC6
|
|
PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW
|
|
PC8 RELAY_1 OUTPUT LOW GPIO(33)
|
|
PC9 RELAY_2 OUTPUT LOW GPIO(34)
|
|
PC10 SPI3_SCK SPI3
|
|
PC11 SPI3_MISO SPI3
|
|
PC12 SPI3_MOSI SPI3
|
|
#PC13
|
|
#PC14
|
|
#PC15
|
|
|
|
#PD0
|
|
#PD1
|
|
#PD2
|
|
#PD3
|
|
#PD4
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
PD7 SBUS_INV OUTPUT
|
|
PD8 USART3_TX USART3
|
|
PD9 USART3_RX USART3
|
|
#PD10
|
|
#PD11
|
|
PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57)
|
|
PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56)
|
|
PD15 LED_RED OUTPUT GPIO(27)
|
|
PD14 LED_BLUE OUTPUT GPIO(26)
|
|
|
|
PE0 BARO_CS CS
|
|
#PE1
|
|
PE2 LED_EXT1 OUTPUT GPIO(29)
|
|
PE3 LED_EXT2 OUTPUT GPIO(28)
|
|
PE4 RELAY_3 OUTPUT LOW GPIO(35)
|
|
#PE5 TIM9_CH1 TIM9 PWM(13) GPIO(62)
|
|
#PE6 TIM9_CH2 TIM9 PWM(14) GPIO(63)
|
|
#PE7
|
|
#PE8
|
|
PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
|
|
PE10 MPU_CS CS
|
|
PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
|
|
#PE12
|
|
PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60)
|
|
PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
|
|
PE15 FRAM_CS CS
|
|
|
|
# SPI device table. The DEVID values are chosen to match the PX4 port
|
|
# of ArduPilot so users don't need to re-do their accel and compass calibrations
|
|
# when moving to ChibiOS
|
|
SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
|
|
SPIDEV mpu6000 SPI2 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV ramtron SPI3 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
|
|
define HAL_CHIBIOS_ARCH_BRAINV54 1
|
|
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
|
|
|
# enable RAMTROM parameter storage
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
# enable FAT filesystem
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
define HAL_GPIO_LED_ON 0
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
define HAL_GPIO_A_LED_PIN 25
|
|
define HAL_GPIO_B_LED_PIN 26
|
|
define HAL_GPIO_C_LED_PIN 27
|
|
define EXTERNAL_LED_GPS 28
|
|
define EXTERNAL_LED_ARMED 29
|
|
define EXTERNAL_LED_MOTOR1 30
|
|
define EXTERNAL_LED_MOTOR2 31
|
|
|
|
define RELAY1_PIN_DEFAULT 33
|
|
define RELAY2_PIN_DEFAULT 34
|
|
define RELAY3_PIN_DEFAULT 35
|
|
|
|
define HAL_BUZZER_PIN 32
|
|
define HAL_BUZZER_ON 1
|
|
define HAL_BUZZER_OFF 0
|
|
|
|
# battery setup
|
|
define HAL_BATT_VOLT_PIN 10
|
|
define HAL_BATT_CURR_PIN 11
|
|
define HAL_BATT_VOLT_SCALE 10.1
|
|
define HAL_BATT_CURR_SCALE 17.0
|
|
|
|
define STM32_PWM_USE_ADVANCED TRUE
|
|
|
|
# 12 PWM available by default
|
|
define BOARD_PWM_COUNT_DEFAULT 14
|
|
|