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172 lines
4.5 KiB
172 lines
4.5 KiB
# hw definition file for processing by chibios_hwdef.py |
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# for FMUv3 hardware |
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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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# board voltage |
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STM32_VDD 330U |
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# flash size |
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FLASH_SIZE_KB 2048 |
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# serial port for stdout |
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STDOUT_SERIAL SD7 |
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STDOUT_BAUDRATE 57600 |
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# USB setup |
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USB_VENDOR 0x0483 # ST |
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USB_PRODUCT 0x5740 |
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USB_STRING_MANUFACTURER "ArduPilot" |
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USB_STRING_PRODUCT "ChibiOS/RT Virtual COM Port" |
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USB_STRING_SERIAL "100" |
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# order of I2C buses |
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I2C_ORDER I2C2 I2C1 |
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# order of UARTs (and USB) |
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UART_ORDER OTG1 UART4 USART2 USART3 UART8 |
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# UART for IOMCU |
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IOMCU_UART USART6 |
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# UART4 serial GPS |
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PA0 UART4_TX UART4 |
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PA1 UART4_RX UART4 |
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1) |
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PA4 VDD_5V_SENS ADC1 SCALE(2) |
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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 VDD_5V_PERIPH_EN OUTPUT LOW |
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PA9 VBUS INPUT OPENDRAIN |
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# PA10 IO-debug-console |
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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 ALARM |
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PB0 EXTERN_GPIO1 OUTPUT GPIO(1) |
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PB1 EXTERN_GPIO2 OUTPUT GPIO(2) |
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PB2 BOOT1 INPUT |
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PB3 FMU_SW0 INPUT |
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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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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 VBUS_VALID INPUT |
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PC1 MAG_CS CS |
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PC2 MPU_CS CS |
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PC3 AUX_POWER ADC1 SCALE(1) |
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PC4 AUX_ADC2 ADC1 SCALE(1) |
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PC5 PRESSURE_SENS ADC1 SCALE(2) |
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# USART6 to IO |
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PC6 USART6_TX USART6 |
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PC7 USART6_RX USART6 |
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PC8 SDIO_D0 SDIO |
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PC9 SDIO_D1 SDIO |
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PC10 SDIO_D2 SDIO |
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PC11 SDIO_D3 SDIO |
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PC12 SDIO_CK SDIO |
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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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# PD0 CAN1_RX |
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# PD1 CAN1_TX |
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PD2 SDIO_CMD SDIO |
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# USART2 serial2 telem1 |
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PD3 USART2_CTS USART2 |
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PD4 USART2_RTS USART2 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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PD7 BARO_CS CS |
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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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PD10 FRAM_CS CS |
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PD11 USART3_CTS USART3 |
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PD12 USART3_RTS USART3 |
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) |
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) |
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PD15 MPU_DRDY INPUT |
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# UART8 serial4 GPS2 |
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PE0 UART8_RX UART8 |
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PE1 UART8_TX UART8 |
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PE2 SPI4_SCK SPI4 |
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PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH |
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PE4 MPU_EXT_CS CS |
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PE5 SPI4_MISO SPI4 |
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PE6 SPI4_MOSI SPI4 |
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# UART7 debug console |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) |
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PE10 VDD_5V_HIPOWER_OC INPUT |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) |
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PE12 FMU_LED_AMBER OUTPUT GPIO(0) |
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) |
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) |
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PE15 VDD_5V_PERIPH_OC INPUT |
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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 ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ |
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SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 4*MHZ |
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SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 4*MHZ |
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV lsm9ds0_g SPI1 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV lsm9ds0_am SPI1 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ |
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SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ |
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SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ |
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SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ |
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SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ |
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# for SPI clock testing |
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#SPIDEV clock500 SPI4 DEVID5 MPU_EXT_CS MODE0 500*KHZ 500*KHZ # gives 329KHz |
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#SPIDEV clock1 SPI4 DEVID5 MPU_EXT_CS MODE0 1*MHZ 1*MHZ # gives 657kHz |
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#SPIDEV clock2 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ # gives 1.3MHz |
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#SPIDEV clock4 SPI4 DEVID5 MPU_EXT_CS MODE0 4*MHZ 4*MHZ # gives 2.6MHz |
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#SPIDEV clock8 SPI4 DEVID5 MPU_EXT_CS MODE0 8*MHZ 8*MHZ # gives 5.5MHz |
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#SPIDEV clock16 SPI4 DEVID5 MPU_EXT_CS MODE0 16*MHZ 16*MHZ # gives 10.6MHz |
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define HAL_CHIBIOS_ARCH_FMUV3 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 16384 |
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# fallback storage location is flash if no FRAM fitted |
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define STORAGE_FLASH_PAGE 22 |
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# enable RAMTROM parameter storage |
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define HAL_WITH_RAMTRON 1 |
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# pixhawk2 cube has an IMU header |
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define HAL_HAVE_IMU_HEATER 1 |
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# enable FAT filesystem |
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define HAL_OS_FATFS_IO 1
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