# hw definition file for processing by chibios_hwdef.py # for FMUv4 hardware define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 # MCU class and specific type MCU STM32F4xx STM32F427xx # board ID for firmware load APJ_BOARD_ID 11 # 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, 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) UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7 # UART4 is GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 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 PA9 VBUS INPUT PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PWM output for buzzer PA15 TIM2_CH1 TIM2 GPIO(77) ALARM # control of spektrum power pin PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70) define HAL_GPIO_SPEKTRUM_PWR 70 # spektrum power is active low define HAL_SPEKTRUM_PWR_ENABLED 0 # spektrum RC input pin, used as GPIO for bind for satellite receivers PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71) define HAL_GPIO_SPEKTRUM_RC 71 PB2 BOOT1 INPUT PB5 VDD_BRICK_VALID INPUT # USART1 is ESP8266 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 # SPI2 is FRAM PB10 SPI2_SCK SPI2 PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PC0 VBUS_VALID INPUT PC1 RSSI_IN ADC1 PC2 MPU9250_CS CS PC3 LED_SAFETY OUTPUT PC4 SAFETY_IN INPUT PULLDOWN PC5 VDD_PERIPH_EN OUTPUT HIGH PC7 TIM8_CH2 TIM8 RCININT 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 PC13 SBUS_INV OUTPUT PC14 20608_DRDY INPUT PC15 20608_CS CS 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 PD7 BARO_CS CS # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD10 FRAM_CS CS PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 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 # UART7 is debug PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) PE12 MAG_DRDY INPUT PE15 MAG_CS CS # 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 mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*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 # fallback to flash is no FRAM fitted define STORAGE_FLASH_PAGE 22 # 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_MAVLink define HAL_SERIAL5_BAUD 921600 # 6 PWM available by default define BOARD_PWM_COUNT_DEFAULT 6 # two IMUs IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90 IMU Invensense SPI:mpu9250 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 COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90 # also probe all types of external I2C compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES # one barometer BARO MS56XX SPI:ms5611_int