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178 lines
3.7 KiB
178 lines
3.7 KiB
# hw definition file for processing by chibios_hwdef.py |
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# for VRUBRAINv51 hardware |
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 |
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# MCU class and specific type |
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MCU STM32F4xx STM32F407xx |
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# board ID for firmware load |
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APJ_BOARD_ID 1351 |
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# crystal frequency |
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OSCILLATOR_HZ 8000000 |
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STM32_PLLM_VALUE 8 |
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# flash size |
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FLASH_SIZE_KB 1024 |
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# board voltage |
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STM32_VDD 330U |
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# USB setup |
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USB_VENDOR 0x27AC |
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USB_PRODUCT 0x1351 |
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USB_STRING_MANUFACTURER "Laser Navigation" |
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USB_STRING_SERIAL "%SERIAL%" |
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# ChibiOS system timer |
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STM32_ST_USE_TIMER 5 |
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# only one I2C bus |
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I2C_ORDER I2C2 I2C1 |
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# order of UARTs (and USB) |
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UART_ORDER OTG1 USART1 USART3 USART2 |
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STDOUT_SERIAL SD3 |
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STDOUT_BAUDRATE 57600 |
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PA0 BUZZER OUTPUT LOW GPIO(32) |
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PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50) |
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PA2 TIM2_CH3 TIM2 PWM(2) GPIO(51) |
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) |
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PA4 SDCARD_CS CS |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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#PA8 |
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PA9 VBUS INPUT |
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#P10 |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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#PA15 |
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) |
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) |
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#PB2 |
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PB3 LED_EXT3 OUTPUT GPIO(30) |
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PB4 LED_EXT4 OUTPUT GPIO(31) |
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53) |
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PB6 USART1_TX USART1 |
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PB7 USART1_RX USART1 |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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#PB12 |
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PB13 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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PC0 BATT_VOLTAGE_SENS ADC1 |
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#PC1 |
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#PC2 |
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#PC3 |
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#PC4 |
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PC5 LED_GREEN OUTPUT GPIO(25) |
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#PC6 |
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PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW |
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PC8 RELAY_1 OUTPUT LOW GPIO(33) |
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PC9 RELAY_2 OUTPUT LOW GPIO(34) |
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PC10 SPI3_SCK SPI3 |
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PC11 SPI3_MISO SPI3 |
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PC12 SPI3_MOSI SPI3 |
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#PC13 |
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#PC14 |
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#PC15 |
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#PD0 |
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#PD1 |
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#PD2 |
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#PD3 |
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#PD4 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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PD7 SBUS_INV OUTPUT |
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PD8 USART3_TX USART3 |
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PD9 USART3_RX USART3 |
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#PD10 |
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#PD11 |
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PD12 TIM4_CH1 TIM4 PWM(8) GPIO(57) |
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PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56) |
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PD15 LED_RED OUTPUT GPIO(27) |
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PD14 LED_BLUE OUTPUT GPIO(26) |
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PE0 BARO_CS CS |
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#PE1 |
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PE2 LED_EXT1 OUTPUT GPIO(29) |
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PE3 LED_EXT2 OUTPUT GPIO(28) |
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#PE4 |
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#PE5 TIM9_CH1 TIM9 PWM(13) GPIO(62) |
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#PE6 TIM9_CH2 TIM9 PWM(14) GPIO(63) |
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#PE7 |
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#PE8 |
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PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58) |
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PE10 MPU_CS CS |
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PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59) |
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#PE12 |
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PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60) |
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PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61) |
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#PE15 |
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# SPI device table. The DEVID values are chosen to match the PX4 port |
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# of ArduPilot so users don't need to re-do their accel and compass calibrations |
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# when moving to ChibiOS |
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV mpu6000 SPI2 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ |
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#SPIDEV ramtron SPI3 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ |
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SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ |
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define HAL_CHIBIOS_ARCH_UBRAINV51 1 |
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" |
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" |
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define HAL_STORAGE_SIZE 15360 |
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define STORAGE_FLASH_PAGE 2 |
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# reserve 32k for bootloader and 32k for flash storage |
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FLASH_RESERVE_START_KB 64 |
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# enable RAMTROM parameter storage |
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#define HAL_WITH_RAMTRON 1 |
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# enable FAT filesystem |
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define HAL_OS_FATFS_IO 1 |
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define HAL_GPIO_LED_ON 0 |
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define HAL_GPIO_LED_OFF 1 |
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define HAL_GPIO_A_LED_PIN 25 |
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define HAL_GPIO_B_LED_PIN 26 |
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define HAL_GPIO_C_LED_PIN 27 |
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define EXTERNAL_LED_GPS 28 |
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define EXTERNAL_LED_ARMED 29 |
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define EXTERNAL_LED_MOTOR1 30 |
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define EXTERNAL_LED_MOTOR2 31 |
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define RELAY1_PIN_DEFAULT 33 |
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define RELAY2_PIN_DEFAULT 34 |
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#define RELAY3_PIN_DEFAULT 35 |
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define HAL_BUZZER_PIN 32 |
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define HAL_BUZZER_ON 1 |
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define HAL_BUZZER_OFF 0 |
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# battery setup |
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define HAL_BATT_VOLT_PIN 10 |
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define HAL_BATT_CURR_PIN -1 |
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define HAL_BATT_VOLT_SCALE 10.1 |
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define HAL_BATT_CURR_SCALE 17.0 |
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define STM32_PWM_USE_ADVANCED TRUE |
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# 12 PWM available by default |
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define BOARD_PWM_COUNT_DEFAULT 14 |
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