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86 lines
2.0 KiB
86 lines
2.0 KiB
# hw definition file for processing by chibios_hwdef.py |
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# for bootloader for FMUv3 hardware (ie. for Pixhawk1, Pixhawk2 cube, XUAV2.1 etc) |
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# MCU class and specific type |
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MCU STM32F4xx STM32F427xx |
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# board ID for firmware load |
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APJ_BOARD_ID 9 |
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# crystal frequency |
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OSCILLATOR_HZ 24000000 |
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# ChibiOS system timer |
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STM32_ST_USE_TIMER 5 |
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# flash size |
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FLASH_SIZE_KB 2048 |
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# location of application code |
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FLASH_BOOTLOADER_LOAD_KB 16 |
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# bootloader loads at start of flash |
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FLASH_RESERVE_START_KB 0 |
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# USB setup |
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USB_STRING_MANUFACTURER "ArduPilot" |
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USB_STRING_SERIAL "%SERIAL%" |
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# baudrate to run bootloader at on uarts |
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define BOOTLOADER_BAUDRATE 115200 |
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# uarts and USB to run bootloader protocol on |
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SERIAL_ORDER OTG1 USART2 USART3 UART7 |
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# this is the pin that senses USB being connected. It is an input pin |
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# setup as OPENDRAIN |
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PA9 VBUS INPUT OPENDRAIN |
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# now we define the pins that USB is connected on |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# Another USART, this one for telem1 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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PD3 USART2_CTS USART2 |
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PD4 USART2_RTS USART2 |
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# the telem2 USART, also with RTS/CTS available |
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# USART3 serial3 telem2 |
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PD8 USART3_TX USART3 |
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PD9 USART3_RX USART3 |
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PD11 USART3_CTS USART3 |
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PD12 USART3_RTS USART3 |
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# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters) |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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# define a LED |
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PE12 LED_BOOTLOADER OUTPUT |
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define HAL_LED_ON 1 |
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# this adds a C define which sets up the ArduPilot architecture |
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# define. Any line starting with 'define' is copied literally as |
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# a #define in the hwdef.h header |
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define HAL_CHIBIOS_ARCH_FMUV3 1 |
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# we need to tell HAL_ChibiOS/Storage.cpp how much storage is |
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# available (in bytes) |
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define HAL_STORAGE_SIZE 16384 |
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# Add CS pins to ensure they are high in bootloader |
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PC1 MAG_CS CS |
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PC2 MPU_CS CS |
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PC13 GYRO_EXT_CS CS |
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PC14 BARO_EXT_CS CS |
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PC15 ACCEL_EXT_CS CS |
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PD7 BARO_CS CS |
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PE4 MPU_EXT_CS CS |
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PD10 FRAM_CS CS SPEED_VERYLOW
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