You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
198 lines
4.4 KiB
198 lines
4.4 KiB
# 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'
|
|
|