mirror of https://github.com/ArduPilot/ardupilot
224 lines
5.0 KiB
Plaintext
224 lines
5.0 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# MCU class and specific type
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F4xx STM32F427xx
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
# flash size
|
|
FLASH_SIZE_KB 2048
|
|
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
# bootloader starts firmware at 64k
|
|
FLASH_RESERVE_START_KB 64
|
|
|
|
# store parameters in pages 2 and 3
|
|
STORAGE_FLASH_PAGE 2
|
|
define HAL_STORAGE_SIZE 16384
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1402
|
|
|
|
# setup build for a peripheral firmware
|
|
env AP_PERIPH 1
|
|
|
|
|
|
|
|
define HAL_SUPPORT_RCOUT_SERIAL 0
|
|
|
|
|
|
# disable dual GPS and GPS blending to save flash space
|
|
define GPS_MAX_RECEIVERS 1
|
|
define GPS_MAX_INSTANCES 1
|
|
define HAL_COMPASS_MAX_SENSORS 1
|
|
|
|
define HAL_NO_MONITOR_THREAD
|
|
|
|
define HAL_DISABLE_LOOP_DELAY
|
|
|
|
define HAL_USE_RTC FALSE
|
|
define DISABLE_SERIAL_ESC_COMM TRUE
|
|
|
|
define HAL_NO_RCIN_THREAD
|
|
|
|
define HAL_BARO_ALLOW_INIT_NO_BARO
|
|
|
|
define HAL_USE_ADC TRUE
|
|
define STM32_ADC_USE_ADC1 TRUE
|
|
define HAL_DISABLE_ADC_DRIVER FALSE
|
|
|
|
|
|
define CAN_APP_NODE_NAME "org.ardupilot.Pixracer_periph"
|
|
|
|
|
|
env DISABLE_SCRIPTING 1
|
|
|
|
MAIN_STACK 0x2000
|
|
PROCESS_STACK 0x6000
|
|
|
|
# listen for reboot command from uploader.py script
|
|
# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
|
|
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
|
|
|
|
# default to all pins low to avoid ESD issues
|
|
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
|
|
|
# --------- Peripherals -----------
|
|
define HAL_PERIPH_ENABLE_ADSB
|
|
define HAL_PERIPH_ADSB_PORT_DEFAULT 2
|
|
|
|
define HAL_PERIPH_ENABLE_AIRSPEED
|
|
define HAL_AIRSPEED_BUS_DEFAULT 0
|
|
define AIRSPEED_MAX_SENSORS 1
|
|
|
|
define HAL_PERIPH_ENABLE_GPS
|
|
define HAL_PERIPH_GPS_PORT_DEFAULT 3
|
|
|
|
define HAL_PERIPH_ENABLE_MAG
|
|
define HAL_PERIPH_ENABLE_BARO
|
|
|
|
define HAL_PERIPH_ENABLE_BATTERY
|
|
define HAL_PERIPH_ENABLE_RC_OUT
|
|
|
|
define HAL_PERIPH_ENABLE_RANGEFINDER
|
|
define HAL_PERIPH_RANGEFINDER_PORT_DEFAULT 1
|
|
define RANGEFINDER_MAX_INSTANCES 1
|
|
|
|
define HAL_PERIPH_ENABLE_NOTIFY
|
|
|
|
# --------- LED -----------
|
|
# a LED to flash
|
|
PB1 LED OUTPUT LOW
|
|
|
|
# --------- ANALOG -----------
|
|
# analog pins
|
|
PA2 BATT_VOLTAGE_SENS ADC1
|
|
PA3 BATT_CURRENT_SENS ADC1
|
|
|
|
# define default 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
|
|
|
|
#---------------- SERIAL -----------------------------
|
|
|
|
# order of UARTs
|
|
# ---------------------------------------
|
|
# | sr0 | sr1 | sr2 | sr3 | sr4 | sr5 | sr6
|
|
# AP Name GPS
|
|
# ---------------------------------------
|
|
SERIAL_ORDER OTG1 USART2 USART3 UART4 EMPTY EMPTY UART7
|
|
|
|
PA9 VBUS INPUT
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
# USART1 is ESP8266 unused
|
|
# PB6 USART1_TX USART1
|
|
# PB7 USART1_RX USART1
|
|
|
|
# USART2 serial2 GPS1
|
|
PD3 USART2_CTS USART2
|
|
PD4 USART2_RTS USART2
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
|
|
# USART3 serial3 telem1
|
|
PD8 USART3_TX USART3 NODMA
|
|
PD9 USART3_RX USART3
|
|
PD11 USART3_CTS USART3
|
|
PD12 USART3_RTS USART3
|
|
|
|
# UART4 is GPS2
|
|
PA0 UART4_TX UART4 NODMA
|
|
PA1 UART4_RX UART4 NODMA
|
|
|
|
# UART7 is debug
|
|
PE7 UART7_RX UART7 NODMA
|
|
PE8 UART7_TX UART7 NODMA
|
|
|
|
# UART8 serial4 FrSky unused
|
|
# PE0 UART8_RX UART8
|
|
# PE1 UART8_TX UART8
|
|
|
|
# SWD debugging
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
#---------------- I2C -----------------------------
|
|
|
|
# only one I2C bus in normal config
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
define HAL_USE_I2C TRUE
|
|
define STM32_I2C_USE_I2C1 TRUE
|
|
|
|
define HAL_I2C_CLEAR_ON_TIMEOUT 0
|
|
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
|
|
# only one I2C bus
|
|
I2C_ORDER I2C1
|
|
|
|
# also probe all types of external I2C compasses
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
#------------------- SPI -----------------------------
|
|
# spi bus for Sensors
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
PE12 MAG_DRDY INPUT
|
|
PE15 MAG_CS CS
|
|
|
|
PB10 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
PD7 BARO_CS CS
|
|
# PD10 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_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
|
|
# SPIDEV mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ //future use
|
|
# SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ //future use
|
|
SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
|
|
SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
|
|
# SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ //unused
|
|
|
|
# one barometer
|
|
BARO MS56XX SPI:ms5611_int
|
|
|
|
# 2 compasses. R15 has LIS3MDL instead of HMC5843
|
|
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
|
|
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
|
|
# COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_9
|
|
|
|
--------------- ALARM -----------------
|
|
# PWM output for buzzer
|
|
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
|
|
|
|
--------------- CAN -----------------
|
|
|
|
# enable CAN support
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
|
|
define HAL_CAN_DRIVER_DEFAULT 1
|
|
|
|
# --------PWMS -----------
|
|
|
|
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
|
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
|
|
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
|
|
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
|
|
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
|
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
|