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|
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# Pixhawk4 Flight Controller |
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|
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The Pixhawk4 flight controller is sold by [Holybro](http://www.holybro.com/product/pixhawk-4) |
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|
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## Features |
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|
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- STM32F765 microcontroller |
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- Two IMUs: ICM20689 and BMI055 |
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- MS5611 SPI barometer |
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- builtin I2C IST8310 magnetometer |
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- microSD card slot |
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- 6 UARTs plus USB |
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- 16 PWM outputs |
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- Four I2C and two CAN ports |
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- External Buzzer |
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- external safety Switch |
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- voltage monitoring for servo rail and Vcc |
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- two dedicated power input ports for external power bricks |
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|
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## Pinout |
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|
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 |
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|
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## UART Mapping |
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|
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- SERIAL0 -> USB |
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- SERIAL1 -> UART2 (Telem1) |
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- SERIAL2 -> UART3 (Telem2) |
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- SERIAL3 -> UART1 (GPS) |
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- SERIAL4 -> UART4 (GPS2, marked UART/I2CB) |
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- SERIAL5 -> UART6 (spare) |
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- SERIAL6 -> UART7 (spare, debug) |
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|
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The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not |
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have RTS/CTS. |
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|
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The UART7 connector is labelled debug, but is available as a general |
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purpose UART with ArduPilot. |
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|
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### TELEM1, TELEM2 ports |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin </th> |
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<th>Signal </th> |
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<th>Volt </th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>CTS</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>RTS</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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### GPS port |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin </th> |
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<th>Signal </th> |
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<th>Volt </th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SERIAL3 TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SERIAL3 RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>SCL</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>SDA</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>SafetyButton</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>7 (blk)</td> |
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<td>SafetyLED</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>8 (blk)</td> |
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<td>VDD 3.3 (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>9 (blk)</td> |
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<td>Buzzer</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>10 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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## RC Input |
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|
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RC input is configured on the port marked DSM/SBUS RC. This connector |
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supports all RC protocols. Two cables are available for this port. To |
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use software binding of Spektrum satellite receivers you need to use |
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the Spektrum satellite cable. |
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|
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## PWM Output |
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|
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The Pixhawk4 supports up to 16 PWM outputs. First first 8 outputs (labelled |
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"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8 |
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outputs support all PWM output formats, but not DShot. |
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|
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The remaining 8 outputs (labelled AUX1 to AUX8) are the "auxiliary" |
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outputs. These are directly attached to the STM32F765 and support all |
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PWM protocols. The first 4 of the auxiliary PWM outputs support DShot. |
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|
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The 8 main PWM outputs are in 3 groups: |
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|
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- PWM 1 and 2 in group1 |
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- PWM 3 and 4 in group2 |
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- PWM 5, 6, 7 and 8 in group3 |
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|
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The 8 auxiliary PWM outputs are in 3 groups: |
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|
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- PWM 1, 2, 3 and 4 in group1 |
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- PWM 5 and 6 in group2 |
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- PWM 7 and 8 in group3 |
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|
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Channels within the same group need to use the same output rate. If |
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any channel in a group uses DShot then all channels in the group need |
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to use DShot. |
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|
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## Battery Monitoring |
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|
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The board has two dedicated power monitor ports on 6 pin |
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connectors. The correct battery setting parameters are dependent on |
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the type of power brick which is connected. |
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|
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## Compass |
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|
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The Pixhawk4 has a builtin IST8310 compass. Due to potential |
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interference the board is usually used with an external I2C compass as |
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part of a GPS/Compass combination. |
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|
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## GPIOs |
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|
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The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To |
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use them you need to limit the number of these pins that is used for |
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PWM by setting the BRD_PWM_COUNT to a number less than 6. For example |
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if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for |
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use as GPIOs. |
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|
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The numbering of the GPIOs for PIN variables in ArduPilot is: |
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|
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- AUX1 50 |
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- AUX2 51 |
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- AUX3 52 |
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- AUX4 53 |
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- AUX5 54 |
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- AUX6 55 |
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|
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## Analog inputs |
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|
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The Pixhawk4 has 7 analog inputs |
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|
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- ADC Pin0 -> Battery Voltage |
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- ADC Pin1 -> Battery Current Sensor |
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- ADC Pin2 -> Battery Voltage 2 |
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- ADC Pin3 -> Battery Current Sensor 2 |
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- ADC Pin4 -> ADC port pin 2 |
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- ADC Pin14 -> ADC port pin 3 |
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- ADC Pin10 -> ADC 5V Sense |
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- ADC Pin11 -> ADC 3.3V Sense |
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- ADC Pin103 -> RSSI voltage monitoring |
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|
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## I2C Buses |
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|
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- the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware) |
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- the port labelled I2CA is bus 3 in ArduPilot (I2C4 in hardware) |
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- the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware) |
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- the port labelled GPS is bus 1 in ArduPilot (I2c1 in hardware) |
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|
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### Pinout for I2CA |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SCL</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SDA</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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### Pinout for I2CB+UART |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SERIAL4 TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SERIAL4 RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>SCL</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>SDA</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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## CAN |
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|
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The Pixhawk4 has two independent CAN buses, with the following pinouts. |
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|
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### CAN1&2 |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>CAN_H</td> |
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<td>+12V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>CAN_L</td> |
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<td>+12V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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## Debug |
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|
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The Pixhawk4 supports SWD debugging on the debug port |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin </th> |
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<th>Signal </th> |
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<th>Volt </th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>FMU VDD 3.3</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>UART TX Debug (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>UART RX Debug (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>SWDIO</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>SWCLK</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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## Loading Firmware |
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|
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The board comes pre-installed with an ArduPilot compatible bootloader, |
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allowing the loading of *.apj firmware files with any ArduPilot |
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compatible ground station. |
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|
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## Acknowledgements |
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|
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Thanks to |
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[PX4](https://docs.px4.io/en/flight_controller/pixhawk4.html) for |
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images used under the [CC-BY 4.0 license](https://creativecommons.org/licenses/by/4.0/) |
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|
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|
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# Pixhawk4 does not have hw flow control on radios |
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BRD_SER1_RTSCTS 0 |
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BRD_SER2_RTSCTS 0 |
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|
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# hw definition file for processing by chibios_hwdef.py |
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# for Pixhawk4 bootloader |
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|
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include ../fmuv5/hwdef-bl.dat |
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|
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# hw definition file for processing by chibios_hwdef.py |
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# for Holybro Pixhawk4 hardware. |
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|
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include ../fmuv5/hwdef.dat |
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|
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# red and blue LEDs swapped vs fmuv5 |
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# red LED marked as B/E |
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undef PB1 |
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PB1 LED_RED OUTPUT OPENDRAIN GPIO(92) |
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# blue LED marked as ACT |
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undef PC7 |
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PC7 LED_BLUE OUTPUT GPIO(90) HIGH |
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|
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# setup for supplied power brick |
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undef HAL_BATT_VOLT_SCALE |
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define HAL_BATT_VOLT_SCALE 18.182 |
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undef HAL_BATT_CURR_SCALE |
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define HAL_BATT_CURR_SCALE 36.364 |
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|
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|
After Width: | Height: | Size: 358 KiB |
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|
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# setup correct defaults for battery monitoring for holybro power brick |
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BATT_MONITOR 4 |
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|
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BATT2_CURR_PIN 14 |
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BATT2_VOLT_PIN 5 |
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|
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# hw definition file for processing by chibios_hwdef.py |
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# for the HolybroV6C hardware |
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|
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# MCU class and specific type |
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MCU STM32H7xx STM32H743xx |
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|
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# crystal frequency |
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OSCILLATOR_HZ 16000000 |
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|
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# USB setup |
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USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro |
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USB_PRODUCT 0x0053 |
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USB_STRING_MANUFACTURER "Holybro" |
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|
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# board ID for firmware load |
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APJ_BOARD_ID 56 |
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|
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# bootloader is installed at zero offset |
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FLASH_RESERVE_START_KB 0 |
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|
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# the location where the bootloader will put the firmware |
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FLASH_BOOTLOADER_LOAD_KB 128 |
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|
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# flash size |
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FLASH_SIZE_KB 2048 |
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|
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env OPTIMIZE -Os |
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|
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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 UART7 UART5 USART3 |
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|
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# default to all pins low to avoid ESD issues |
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DEFAULTGPIO OUTPUT LOW PULLDOWN |
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|
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# USB |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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PA9 VBUS INPUT OPENDRAIN |
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|
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# pins for SWD debugging |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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|
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# CS pins |
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PC13 ICM42688_CS CS |
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PC14 BMI055_G_CS CS |
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PC15 BMI055_A_CS CS |
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PD4 FRAM_CS CS |
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|
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# telem1 |
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PE8 UART7_TX UART7 |
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PE7 UART7_RX UART7 |
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|
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# telem2 |
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PC12 UART5_TX UART5 |
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PD2 UART5_RX UART5 |
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|
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# debug uart |
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PD8 USART3_TX USART3 |
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PD9 USART3_RX USART3 |
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|
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# start peripheral power off |
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PC10 nVDD_5V_HIPOWER_EN OUTPUT HIGH |
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PE2 nVDD_5V_PERIPH_EN OUTPUT HIGH |
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|
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# LEDs |
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PD10 LED_ACTIVITY OUTPUT OPENDRAIN GPIO(90) HIGH # red |
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PD11 LED_BOOTLOADER OUTPUT OPENDRAIN GPIO(92) HIGH # blue |
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define HAL_LED_ON 0 |
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|
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define HAL_USE_EMPTY_STORAGE 1 |
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define HAL_STORAGE_SIZE 16384 |
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|
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# hw definition file for processing by chibios_hwdef.py |
||||
# for the HolybroV6C hardware |
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|
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# MCU class and specific type |
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MCU STM32H7xx STM32H743xx |
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|
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# crystal frequency |
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OSCILLATOR_HZ 16000000 |
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|
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# ChibiOS system timer |
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STM32_ST_USE_TIMER 2 |
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|
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# USB setup |
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USB_VENDOR 0x3162 # ONLY FOR USE BY AUSV |
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USB_PRODUCT 0x0053 |
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USB_STRING_MANUFACTURER "AUSV" |
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|
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# board ID for firmware load |
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APJ_BOARD_ID 56 |
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|
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FLASH_RESERVE_START_KB 128 |
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|
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# to be compatible with the px4 bootloader we need |
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# to use a different RAM_MAP |
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env USE_ALT_RAM_MAP 1 |
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|
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# flash size |
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FLASH_SIZE_KB 2048 |
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|
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env OPTIMIZE -O2 |
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|
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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 USART3 OTG2 |
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|
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# default the 2nd interface to MAVLink2 |
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 |
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|
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# default to all pins low to avoid ESD issues |
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DEFAULTGPIO OUTPUT LOW PULLDOWN |
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|
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# USB |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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PA9 VBUS INPUT OPENDRAIN |
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|
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# pins for SWD debugging |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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|
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# telem1 |
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PE8 UART7_TX UART7 |
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PE7 UART7_RX UART7 |
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PE9 UART7_RTS UART7 |
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PE10 UART7_CTS UART7 |
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|
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# telem2 |
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PC12 UART5_TX UART5 |
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PD2 UART5_RX UART5 |
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PC8 UART5_RTS UART5 |
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PC9 UART5_CTS UART5 |
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|
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# GPS1 |
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PB6 USART1_TX USART1 |
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PA10 USART1_RX USART1 |
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|
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# GPS2 |
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PE1 UART8_TX UART8 |
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PE0 UART8_RX UART8 |
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|
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# uart2 telem3 |
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PD5 USART2_TX USART2 |
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PA3 USART2_RX USART2 |
||||
|
||||
# debug uart |
||||
PD8 USART3_TX USART3 |
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PD9 USART3_RX USART3 |
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|
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# USART6 is for IOMCU |
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PC6 USART6_TX USART6 |
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PC7 USART6_RX USART6 |
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|
||||
IOMCU_UART USART6 |
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|
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# ADC |
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|
||||
PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PC4 BATT_CURRENT_SENS ADC1 SCALE(1) |
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|
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PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(1) |
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PA2 BATT2_CURRENT_SENS ADC1 SCALE(1) |
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|
||||
define HAL_BATT_VOLT_PIN 8 |
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define HAL_BATT_CURR_PIN 4 |
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define HAL_BATT_VOLT_SCALE 18.18 |
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define HAL_BATT_CURR_SCALE 36.36 |
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|
||||
PA4 VDD_5V_SENS ADC1 SCALE(2) |
||||
|
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# SPI1 - IMUs |
||||
PA5 SPI1_SCK SPI1 |
||||
PA6 SPI1_MISO SPI1 |
||||
PA7 SPI1_MOSI SPI1 |
||||
PC13 ICM42688_CS CS |
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PC14 BMI055_G_CS CS |
||||
PC15 BMI055_A_CS CS |
||||
PE4 BMI055_DRDY_A INPUT |
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PE5 BMI055_DRDY_G INPUT |
||||
PE6 ICM42688_DRDY INPUT |
||||
|
||||
# SPI2 - FRAM |
||||
PD3 SPI2_SCK SPI2 |
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PC2 SPI2_MISO SPI2 |
||||
PC3 SPI2_MOSI SPI2 |
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PD4 FRAM_CS CS |
||||
|
||||
# PWM output pins |
||||
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) |
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PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) |
||||
PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) |
||||
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) |
||||
PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54) |
||||
PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55) |
||||
PA0 TIM5_CH1 TIM5 PWM(7) GPIO(56) |
||||
PA1 TIM5_CH2 TIM5 PWM(8) GPIO(57) |
||||
|
||||
# CAN bus |
||||
PD0 CAN1_RX CAN1 |
||||
PD1 CAN1_TX CAN1 |
||||
|
||||
PB5 CAN2_RX CAN2 |
||||
PB13 CAN2_TX CAN2 |
||||
|
||||
|
||||
# I2C buses |
||||
|
||||
# I2C1, GPS+MAG |
||||
PB7 I2C1_SDA I2C1 |
||||
PB8 I2C1_SCL I2C1 |
||||
|
||||
# I2C2, GPS2+MAG |
||||
PB10 I2C2_SCL I2C2 |
||||
PB11 I2C2_SDA I2C2 |
||||
|
||||
# I2C4 internal |
||||
PD12 I2C4_SCL I2C4 |
||||
PD13 I2C4_SDA I2C4 |
||||
|
||||
# order of I2C buses |
||||
I2C_ORDER I2C4 I2C1 I2C2 |
||||
define HAL_I2C_INTERNAL_MASK 1 |
||||
|
||||
# this board is tight on DMA channels. To allow for more UART DMA we |
||||
# disable DMA on I2C. This also prevents a problem with DMA on I2C |
||||
# interfering with IMUs |
||||
NODMA I2C* |
||||
define STM32_I2C_USE_DMA FALSE |
||||
|
||||
# heater |
||||
PB9 HEATER_EN OUTPUT LOW GPIO(80) |
||||
define HAL_HEATER_GPIO_PIN 80 |
||||
|
||||
# Setup the IMU heater |
||||
define HAL_HAVE_IMU_HEATER 1 |
||||
define HAL_IMU_TEMP_DEFAULT 45 |
||||
define HAL_IMUHEAT_P_DEFAULT 50 |
||||
define HAL_IMUHEAT_I_DEFAULT 0.07 |
||||
|
||||
# power enable pins |
||||
PB2 VDD_3V3_SENSORS1_EN OUTPUT HIGH |
||||
|
||||
# start peripheral power off, then enable after init |
||||
# this prevents a problem with radios that use RTS for |
||||
# bootloader hold |
||||
PC10 nVDD_5V_HIPOWER_EN OUTPUT HIGH |
||||
PE2 nVDD_5V_PERIPH_EN OUTPUT HIGH |
||||
|
||||
# Control of Spektrum power pin |
||||
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) |
||||
define HAL_GPIO_SPEKTRUM_PWR 73 |
||||
|
||||
# Spektrum Power is Active High |
||||
define HAL_SPEKTRUM_PWR_ENABLED 1 |
||||
|
||||
# power sensing |
||||
PE3 VDD_5V_PERIPH_nOC INPUT PULLUP |
||||
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP |
||||
|
||||
PA15 VDD_BRICK_nVALID INPUT PULLUP |
||||
PB12 VDD_BRICK2_nVALID INPUT PULLUP |
||||
|
||||
# microSD support |
||||
PD6 SDMMC2_CK SDMMC2 |
||||
PD7 SDMMC2_CMD SDMMC2 |
||||
PB14 SDMMC2_D0 SDMMC2 |
||||
PB15 SDMMC2_D1 SDMMC2 |
||||
PB3 SDMMC2_D2 SDMMC2 |
||||
PB4 SDMMC2_D3 SDMMC2 |
||||
define FATFS_HAL_DEVICE SDCD2 |
||||
|
||||
# LEDs |
||||
PD10 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH |
||||
PD11 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH |
||||
|
||||
# setup for BoardLED2 |
||||
define HAL_GPIO_A_LED_PIN 90 |
||||
define HAL_GPIO_B_LED_PIN 92 |
||||
define HAL_GPIO_LED_ON 0 |
||||
|
||||
# ID pins |
||||
PE12 HW_VER_REV_DRIVE OUTPUT LOW |
||||
# PC0 HW_REV_SENS ADC1 SCALE(1) |
||||
# PC1 HW_VER_SENS ADC1 SCALE(1) |
||||
|
||||
# PWM output for buzzer |
||||
PB0 TIM3_CH3 TIM3 GPIO(77) ALARM |
||||
|
||||
# barometers |
||||
BARO MS56XX I2C:0:0x76 |
||||
BARO MS56XX I2C:0:0x77 |
||||
BARO BMP388 I2C:0:0x77 |
||||
|
||||
# prototypes may have no baro |
||||
define HAL_BARO_ALLOW_INIT_NO_BARO 1 |
||||
|
||||
# compass |
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
||||
COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE |
||||
|
||||
# compensate for magnetic field generated by the heater on 6C IST8310 |
||||
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xc,0xa),Vector3f(17,14,0)} |
||||
|
||||
|
||||
# we need to stop the probe of an IST8310 as an internal compass with PITCH_180 |
||||
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE |
||||
|
||||
|
||||
# SPI devices |
||||
SPIDEV bmi055_g SPI1 DEVID1 BMI055_G_CS MODE3 10*MHZ 10*MHZ |
||||
SPIDEV bmi055_a SPI1 DEVID2 BMI055_A_CS MODE3 10*MHZ 10*MHZ |
||||
SPIDEV icm42688 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ |
||||
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ |
||||
|
||||
# 2 IMUs |
||||
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 |
||||
IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180 |
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 3 |
||||
|
||||
# enable RAMTROM parameter storage |
||||
define HAL_STORAGE_SIZE 32768 |
||||
define HAL_WITH_RAMTRON 1 |
||||
|
||||
# allow to have have a dedicated safety switch pin |
||||
define HAL_HAVE_SAFETY_SWITCH 1 |
||||
|
||||
DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM* |
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC) |
||||
define HAL_OS_FATFS_IO 1 |
||||
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" |
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" |
||||
|
||||
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin |
||||
Loading…
Reference in new issue