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N3_sub
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libraries
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AP_HAL_ChibiOS
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hwdef
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fmuv3
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hwdef-bl.dat

hwdef-bl.dat 2.1 KB
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  1. # hw definition file for processing by chibios_hwdef.py
    2. 

  2. # for bootloader for FMUv3 hardware (ie. for Pixhawk1, Pixhawk2 cube, XUAV2.1 etc)
    3. 

  3. 

  4. # MCU class and specific type
    5. 

  5. MCU STM32F4xx STM32F427xx
    6. 

  6. 

  7. # board ID for firmware load
    8. 

  8. APJ_BOARD_ID 9
    9. 

  9. 

  10. # crystal frequency
    11. 

  11. OSCILLATOR_HZ 24000000
    12. 

  12. 

  13. # board voltage
    14. 

  14. STM32_VDD 330U
    15. 

  15. 

  16. # ChibiOS system timer
    17. 

  17. STM32_ST_USE_TIMER 5
    18. 

  18. 

  19. # flash size
    20. 

  20. FLASH_SIZE_KB 2048
    21. 

  21. 

  22. # location of application code
    23. 

  23. FLASH_BOOTLOADER_LOAD_KB 16
    24. 

  24. 

  25. # bootloader loads at start of flash
    26. 

  26. FLASH_RESERVE_START_KB 0
    27. 

  27. 

  28. # USB setup
    29. 

  29. USB_VENDOR 0x0483 # ST
    30. 

  30. USB_PRODUCT 0x5740
    31. 

  31. USB_STRING_MANUFACTURER "ArduPilot"
    32. 

  32. USB_STRING_SERIAL  "%SERIAL%"
    33. 

  33. 

  34. # baudrate to run bootloader at on uarts
    35. 

  35. define BOOTLOADER_BAUDRATE 115200
    36. 

  36. 

  37. # uarts and USB to run bootloader protocol on
    38. 

  38. UART_ORDER OTG1 USART2 USART3 UART7
    39. 

  39. 

  40. # this is the pin that senses USB being connected. It is an input pin
    41. 

  41. # setup as OPENDRAIN
    42. 

  42. PA9 VBUS INPUT OPENDRAIN
    43. 

  43. 

  44. # now we define the pins that USB is connected on
    45. 

  45. PA11 OTG_FS_DM OTG1
    46. 

  46. PA12 OTG_FS_DP OTG1
    47. 

  47. 

  48. # these are the pins for SWD debugging with a STlinkv2 or black-magic probe
    49. 

  49. PA13 JTMS-SWDIO SWD
    50. 

  50. PA14 JTCK-SWCLK SWD
    51. 

  51. 

  52. # Another USART, this one for telem1
    53. 

  53. PD5 USART2_TX USART2
    54. 

  54. PD6 USART2_RX USART2
    55. 

  55. PD3 USART2_CTS USART2
    56. 

  56. PD4 USART2_RTS USART2
    57. 

  57. 

  58. # the telem2 USART, also with RTS/CTS available
    59. 

  59. # USART3 serial3 telem2
    60. 

  60. PD8 USART3_TX USART3
    61. 

  61. PD9 USART3_RX USART3
    62. 

  62. PD11 USART3_CTS USART3
    63. 

  63. PD12 USART3_RTS USART3
    64. 

  64. 

  65. # UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
    66. 

  66. PE7 UART7_RX UART7
    67. 

  67. PE8 UART7_TX UART7
    68. 

  68. 

  69. # define a LED
    70. 

  70. PE12 LED_BOOTLOADER OUTPUT
    71. 

  71. define HAL_LED_ON 1
    72. 

  72. 

  73. # this adds a C define which sets up the ArduPilot architecture
    74. 

  74. # define. Any line starting with 'define' is copied literally as
    75. 

  75. # a #define in the hwdef.h header
    76. 

  76. define HAL_CHIBIOS_ARCH_FMUV3 1
    77. 

  77. 

  78. # we need to tell HAL_ChibiOS/Storage.cpp how much storage is
    79. 

  79. # available (in bytes)
    80. 

  80. define HAL_STORAGE_SIZE 16384
    81. 

  81. 

  82. # uncomment the lines below to enable strict API
    83. 

  83. # checking in ChibiOS
    84. 

  84. # define CH_DBG_ENABLE_ASSERTS TRUE
    85. 

  85. # define CH_DBG_ENABLE_CHECKS TRUE
    86. 

  86. # define CH_DBG_SYSTEM_STATE_CHECK TRUE
    87. 

  87. # define CH_DBG_ENABLE_STACK_CHECK TRUE
    88.