# hw definition file for processing by chibios_hwdef.py # for FMUv4pro hardware (Pixhawk 3 Pro) define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4PRO define BOARD_TYPE_DEFAULT 14 # MCU class and specific type MCU STM32F4xx STM32F469xx # board ID for firmware load APJ_BOARD_ID 13 # crystal frequency OSCILLATOR_HZ 24000000 # board voltage STM32_VDD 330U # ChibiOS system timer STM32_ST_USE_TIMER 5 # flash size FLASH_SIZE_KB 2048 env OPTIMIZE -O2 # serial port for stdout, disabled so console is on USB #STDOUT_SERIAL SD7 #STDOUT_BAUDRATE 57600 # order of I2C buses I2C_ORDER I2C1 I2C2 # now the UART order. These map to the hal.uartA to hal.uartF # objects. If you use a shorter list then HAL_Empty::UARTDriver # objects are substituted for later UARTs, or you can leave a gap by # listing one or more of the uarts as EMPTY # 1) SERIAL0: console (primary mavlink, usually USB) # 2) SERIAL3: primary GPS # 3) SERIAL1: telem1 # 4) SERIAL2: telem2 # 5) SERIAL4: GPS2 # 6) SERIAL5: extra UART (usually RTOS debug console) # order of UARTs (and USB) UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7 # UART for IOMCU IOMCU_UART USART6 # we have a safety switch on IO define HAL_HAVE_SAFETY_SWITCH 1 # UART4 serial GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 # battery connectors PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT_CURRENT_SENS ADC1 SCALE(1) # VDD sense pin. This is used to sense primary board voltags PA4 VDD_5V_SENS ADC1 SCALE(2) # SPI1 is sensors bus PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI1 CS pins PC2 MPU9250_CS CS PC15 20608_CS CS PD7 BARO_CS CS PE15 MAG_CS CS PH5 EEPROM_CS CS PA9 VBUS INPUT OPENDRAIN # now we define the pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # these are the pins for SWD debugging with a STlinkv2 or black-magic probe PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PWM output for buzzer PA15 TIM2_CH1 TIM2 GPIO(77) ALARM # this defines a couple of general purpose outputs, mapped to GPIO # numbers 1 and 2 for users # PB0 EXTERN_GPIO1 OUTPUT GPIO(1) # PB1 EXTERN_GPIO2 OUTPUT GPIO(2) #PB0 INPUT PULLUP # RC Input PPM PB1 LED_GREEN OUTPUT GPIO(0) PB2 BOOT1 INPUT PB3 LED_BLUE OUTPUT GPIO(1) PB6 USART1_TX USART1 PB7 USART1_RX USART1 PA8 USART1_RTS USART1 # PE10 is not a hw CTS pin for USART1 PE10 8266_CTS INPUT # make GPIOs for ESP8266 available via mavlink relay control as pins # 60 to 63 PB4 8266_GPIO2 OUTPUT GPIO(60) PE2 8266_GPI0 INPUT PULLUP GPIO(61) PE5 8266_PD OUTPUT HIGH GPIO(62) PE6 8266_RST OUTPUT HIGH GPIO(63) PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 # SPI2 is FRAM PB10 SPI2_SCK SPI2 PB11 LED_RED OUTPUT GPIO(2) PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PC0 VBUS_VALID INPUT PC1 BATT2_VOLTAGE_SENS ADC1 SCALE(1) PC3 BATT2_CURRENT_SENS ADC1 SCALE(1) #PC4 SAFETY_IN INPUT PULLDOWN # this sets up the UART for talking to the IOMCU. Note that it is # vital that this UART has DMA available. See the DMA settings below # for more information # USART6 to IO PC6 USART6_TX USART6 PC7 USART6_RX USART6 # now setup the pins for the microSD card, if available PC8 SDIO_D0 SDIO PC9 SDIO_D1 SDIO PC10 SDIO_D2 SDIO PC11 SDIO_D3 SDIO PC12 SDIO_CK SDIO PC13 SBUS_INV OUTPUT PC14 20608_DRDY INPUT PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PD2 SDIO_CMD SDIO # USART2 serial2 telem1 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD10 FRAM_CS CS PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) PD15 MPU9250_DRDY INPUT # UART8 serial4 FrSky PE0 UART8_RX UART8 PE1 UART8_TX UART8 # allow this uart to be inverted for transmit under user control # the polarity is the value to use on the GPIO to change the polarity # to the opposite of the default PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0) PE3 VDD_SENSORS_EN OUTPUT HIGH # start peripheral power off, then enable after init # this prevents a problem with radios that use RTS for # bootloader hold PC5 VDD_5V_WIFI_EN OUTPUT HIGH PF4 nVDD_5V_HIPOWER_EN OUTPUT HIGH PG10 nVDD_5V_PERIPH_EN OUTPUT HIGH # UART7 is debug PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE12 MAG_DRDY INPUT PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) # Power flag pins: these tell the MCU the status of the various power # supplies that are available. The pin names need to exactly match the # names used in AnalogIn.cpp. PB5 VDD_BRICK_VALID INPUT PULLUP PG5 VDD_BRICK2_VALID INPUT PULLUP PF3 VDD_5V_HIPOWER_OC INPUT PULLUP PG4 VDD_5V_PERIPH_OC INPUT PULLUP # SPI device table SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ # two IMUs define HAL_DEFAULT_INS_FAST_SAMPLE 1 IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90 IMU Invensense SPI:mpu9250 ROTATION_ROLL_180_YAW_90 # one baro BARO MS56XX SPI:ms5611 # two compasses COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90 COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_CHIBIOS_ARCH_FMUV4PRO 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" define HAL_STORAGE_SIZE 16384 define HAL_WITH_RAMTRON 1 # fallback to flash is no FRAM fitted define STORAGE_FLASH_PAGE 22 # enable FAT filesystem support (needs a microSD defined via SDIO) define HAL_OS_FATFS_IO 1 # enable RTSCTS support define AP_FEATURE_RTSCTS 1 # enable SBUS_OUT on IOMCU (if you have an IOMCU) define AP_FEATURE_SBUS_OUT 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_MAVLink define HAL_SERIAL5_BAUD 921600 # 8 PWM available by default define BOARD_PWM_COUNT_DEFAULT 6 # We can't share the IO UART (USART6). DMA_NOSHARE USART6_TX USART6_RX ADC1 DMA_PRIORITY USART6* ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin