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watchrobot
/
libraries
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AP_HAL_ChibiOS
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hwdef
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CUAVv5Nano
/
hwdef.dat

hwdef.dat 1.7 KB
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  1. # hw definition file for processing by chibios_hwdef.py
    2. 

  2. # for CUAVv5Nano F7 hardware.
    3. 

  3. # This is a varient of fmuv5 without the IOMCU
    4. 

  4. 

  5. include ../fmuv5/hwdef.dat
    6. 

  6. 

  7. # we shift the system timer to TIM5 to allow
    8. 

  8. # us to use TIM2 for extra PWM outputs
    9. 

  9. STM32_ST_USE_TIMER 5
    10. 

  10. 

  11. # start with PE3 low
    12. 

  12. undef PE3
    13. 

  13. PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
    14. 

  14. 

  15. # order of UARTs (and USB).
    16. 

  16. UART_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 OTG2
    17. 

  17. 

  18. # enable TX on USART6 (disabled for fmuv5 with iomcu)
    19. 

  19. PG14 USART6_TX USART6 NODMA
    20. 

  20. 

  21. # disable the IOMCU UART
    22. 

  22. undef IOMCU_UART
    23. 

  23. undef UART8_TX
    24. 

  24. undef UART8_RX
    25. 

  25. undef AP_FEATURE_SBUS_OUT
    26. 

  26. 

  27. # allow the first 3 capture ports to be used as PWM outputs or GPIOs
    28. 

  28. undef PA5
    29. 

  29. undef PB3
    30. 

  30. undef PB11
    31. 

  31. undef FMU_CAP1
    32. 

  32. undef FMU_CAP2
    33. 

  33. undef FMU_CAP3
    34. 

  34. 

  35. PA5  TIM2_CH1 TIM2 PWM(9)  GPIO(58)
    36. 

  36. PB3  TIM2_CH2 TIM2 PWM(10) GPIO(59)
    37. 

  37. PB11 TIM2_CH4 TIM2 PWM(11) GPIO(60)
    38. 

  38. 

  39. undef BOARD_PWM_COUNT_DEFAULT
    40. 

  40. define BOARD_PWM_COUNT_DEFAULT 11
    41. 

  41. 

  42. # RCInput on the PPM pin, for all protocols
    43. 

  43. undef PG9
    44. 

  44. undef USART6_RX
    45. 

  45. PI5 TIM8_CH1 TIM8 RCININT PULLUP LOW
    46. 

  46. 

  47. # setup for supplied power brick
    48. 

  48. undef HAL_BATT_VOLT_SCALE
    49. 

  49. define HAL_BATT_VOLT_SCALE 18.182
    50. 

  50. undef HAL_BATT_CURR_SCALE
    51. 

  51. define HAL_BATT_CURR_SCALE 36.364
    52. 

  52. 

  53. # setup safety switch
    54. 

  54. PE12 LED_SAFETY OUTPUT
    55. 

  55. PE10 SAFETY_IN INPUT PULLDOWN
    56. 

  56. 

  57. # extra LEDs, active low, used using the pixracer LED scheme
    58. 

  58. # must be opendrain as supply for LEDs is 5V
    59. 

  59. PH10 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
    60. 

  60. PH11 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1)
    61. 

  61. PH12 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
    62. 

  62. 

  63. undef HAL_GPIO_A_LED_PIN
    64. 

  64. undef HAL_GPIO_B_LED_PIN
    65. 

  65. 

  66. define HAL_GPIO_A_LED_PIN 0
    67. 

  67. define HAL_GPIO_B_LED_PIN 1
    68. 

  68. define HAL_GPIO_C_LED_PIN 2
    69. 

  69. 

  70. define HAL_GPIO_LED_ON  0
    71. 

  71. define HAL_GPIO_LED_OFF 1
    72. 

  72. 

  73. define HAL_HAVE_PIXRACER_LED
    74.