ardupilot/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat

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# hwdef for Luminousbees flight board
# MCU class and specific type
MCU STM32F4xx STM32F427xx
# board ID for firmware load
APJ_BOARD_ID 11
# crystal frequency
OSCILLATOR_HZ 24000000
# ChibiOS system timer
STM32_ST_USE_TIMER 5
# flash size
FLASH_SIZE_KB 2048
env OPTIMIZE -O3
# serial port for stdout disabled, use USB console
# STDOUT_SERIAL SD7
# STDOUT_BAUDRATE 57600
# only one I2C bus
I2C_ORDER I2C1
# to match px4 we make the first bus number 1
define HAL_I2C_BUS_BASE 1
define HAL_I2C_INTERNAL_MASK 0
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
# Battery & current control
PA2 BATT_VOLTAGE_SENS ADC1
PA3 BATT_CURRENT_SENS ADC1
PA4 VDD_5V_SENS ADC1 SCALE(2)
# SPI1 is sensors bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
PB2 BOOT1 INPUT
PB5 VDD_BRICK_VALID INPUT
# USART1
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6 as led strip control
#PB6 USART1_TX USART1
PB7 USART1_RX USART1
# UWB DW1000
PB4 UWB_CS CS
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
# SPI2 is FRAM
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PC0 VBUS_VALID INPUT
PC4 SAFETY_IN INPUT PULLDOWN
PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # also USART6_RX for serial RC
PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
PC11 SDIO_D3 SDIO
PC12 SDIO_CK SDIO
PD2 SDIO_CMD SDIO
# USART2 serial2 telem1 connected to ESP
PD4 BMI088_ACCEL_CS CS
PD3 BMI088_GYRO_CS CS
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD7 BARO_CS CS
# PB7 BARO2_CS CS # FOR DPS310 ON FRAME MICRO
# USART3 serial3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD10 FRAM_CS CS
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
# UART8
PE0 UART8_RX UART8
PE1 UART8_TX UART8
#set up SPI bus4 for UWB
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52
PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50
PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53
PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51
# 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_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
SPIDEV bmi088_g SPI4 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI4 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ
define HAL_CHIBIOS_ARCH_FMUV4 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
# pixracer has 3 LEDs, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
# LED setup for PixracerLED driver
PB11 LED_RED OUTPUT GPIO(0)
PB1 LED_GREEN OUTPUT GPIO(1)
PB3 LED_BLUE OUTPUT GPIO(2)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2
# enable RTSCTS
define AP_FEATURE_RTSCTS 1
# battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 3
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
# setup serial port defaults for ESP8266
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
define HAL_SERIAL5_BAUD 921600
# 6 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 6
# Set one or two IMUs
#IMU Invensense SPI:icm20608 ROTATION_YAW_180
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# 2 compasses. R15 has LIS3MDL instead of HMC5843
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
# Barometer ( DPS310 under test on micro frame )
BARO MS56XX SPI:ms5611_int
# BARO DPS280 SPI:dps310
# reserve plenty of memory for DMA for LED buffers
define DMA_RESERVE_SIZE 32768
# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'