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- # hw definition file for processing by chibios_pins.py
- # for mini-pix hardware from RadioLink
- # MCU class and specific type
- MCU STM32F4xx STM32F405xx
- define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_MINIPIX
- # board ID for firmware load
- APJ_BOARD_ID 3
- # crystal frequency
- OSCILLATOR_HZ 24000000
- # ChibiOS system timer
- STM32_ST_USE_TIMER 5
- FLASH_SIZE_KB 1024
- # board voltage
- STM32_VDD 330U
- # use USB for stdout, so no STDOUT_SERIAL
- # STDOUT_SERIAL SD2
- # STDOUT_BAUDRATE 57600
- # only one I2C bus
- I2C_ORDER I2C2 I2C1
- # order of UARTs (and USB)
- UART_ORDER OTG1 UART4 USART3 USART2
- # UART4 serial GPS
- PA0 UART4_TX UART4
- PA1 UART4_RX UART4
- PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
- PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
- PA4 VDD_5V_SENS ADC1 SCALE(2)
- #SPI for MPU6500
- PA5 SPI1_SCK SPI1
- PA6 SPI1_MISO SPI1
- PA7 SPI1_MOSI SPI1
- # setup for power brick
- define HAL_BATT_VOLT_PIN 2
- define HAL_BATT_CURR_PIN 3
- define HAL_BATT_VOLT_SCALE 12.1
- define HAL_BATT_CURR_SCALE 43.0
- PA9 VBUS INPUT OPENDRAIN
- PA11 OTG_FS_DM OTG1
- PA12 OTG_FS_DP OTG1
- PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
- PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM
- PB2 BOOT1 INPUT
- PB5 VDD_BRICK_VALID INPUT
- PB8 I2C1_SCL I2C1
- PB9 I2C1_SDA I2C1
- PB10 I2C2_SCL I2C2
- PB11 I2C2_SDA I2C2
- PB13 SPI2_SCK SPI2
- PB14 SPI2_MISO SPI2
- PB15 SPI2_MOSI SPI2
- PC0 VBUS_VALID INPUT
- PC1 RSSI_IN ADC1
- PC2 LPS22HB_CS CS
- PC3 LED_SAFETY OUTPUT
- PC4 SAFETY_IN INPUT
- PC7 TIM8_CH2 TIM8 RCIN PULLUP 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
- PC13 SBUS_INV OUTPUT
- PC14 MPU6500_DRDY INPUT
- PC15 MPU6500_CS CS
- PD2 SDIO_CMD SDIO
- # USART2 serial2 telem2
- PD3 USART2_CTS USART2
- PD4 USART2_RTS USART2
- PD5 USART2_TX USART2
- PD6 USART2_RX USART2
- # USART3 serial3 telem1
- 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 LPS22HB_DRDY INPUT
- PE3 VDD_SENSORS_EN OUTPUT HIGH
- PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
- PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
- PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
- PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
- # SPI devices
- SPIDEV mpu6000 SPI1 DEVID1 MPU6500_CS MODE3 1*MHZ 8*MHZ
- SPIDEV lps22h SPI2 DEVID3 LPS22HB_CS MODE3 1*MHZ 10*MHZ
- SPIDEV ramtron SPI2 DEVID4 FRAM_CS MODE3 8*MHZ 8*MHZ
- # one baro
- BARO LPS2XH SPI:lps22h
- # one IMU
- IMU Invensense SPI:mpu6000 ROTATION_PITCH_180
- # one internal compass, plus external probe
- COMPASS QMC5883L I2C:0:0x0D false ROTATION_PITCH_180_YAW_270
- define HAL_PROBE_EXTERNAL_I2C_COMPASSES
- define HAL_I2C_INTERNAL_MASK 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
- # fallback to flash is no FRAM fitted
- define STORAGE_FLASH_PAGE 22
- # enable FAT filesystem
- define HAL_OS_FATFS_IO 1
- # LED setup is similar to PixRacer
- define HAL_HAVE_PIXRACER_LED
- PB1 LED_RED OUTPUT GPIO(0)
- PC5 LED_GREEN OUTPUT GPIO(1)
- PE12 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
- define HAL_GPIO_LED_ON 0
- define HAL_GPIO_LED_OFF 1
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