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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat

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AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# hw definition file for processing by chibios_pins.py
# for Holybro KakuteF7 Mini hardware.
@ thanks to betaflight for pin information
# MCU class and specific type
MCU STM32F7xx STM32F745xx
# board ID for firmware load
APJ_BOARD_ID 145
# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000
FLASH_SIZE_KB 1024
# leave 2 sectors free
FLASH_RESERVE_START_KB 96
# only one I2C bus
I2C_ORDER I2C1
# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
HAL_ChibiOS: convert all hwdef from UART_ORDER to SERIAL_ORDER much easier to understand
2020-04-24 08:10:08 -03:00
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# buzzer
PD15 TIM4_CH4 TIM4 GPIO(77) ALARM
#PD15 BUZZER OUTPUT GPIO(80) LOW
#define HAL_BUZZER_PIN 80
#define HAL_BUZZER_ON 1
#define HAL_BUZZER_OFF 0
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# SPI1 for M25P16 dataflash
PA4 FLASH_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# SPI2 for MAX7456 OSD
PB12 MAX7456_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
# SPI4 for ICM20689
PE4 ICM20689_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# I2C1 for baro
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
# define default battery setup
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 10.9
define HAL_BATT_CURR_SCALE 28.5
PC5 RSSI_ADC ADC1
AP_HAL_ChibOS: add pin defs for RSSI to KakuteF7
2021-09-03 19:48:39 -03:00
define BOARD_RSSI_ANA_PIN 15
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
PA2 LED0 OUTPUT LOW
AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
2020-10-12 16:57:29 -03:00
# In order to accommodate bi-directional dshot certain devices cannot be DMA enabled
# NODMA indicates these devices, if you remove it they will still not be resolved for DMA
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# USART1
AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
2020-10-12 16:57:29 -03:00
PA10 USART1_RX USART1 NODMA
PA9 USART1_TX USART1 NODMA
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
# USART3 (GPS)
PB11 USART3_RX USART3
PB10 USART3_TX USART3
# UART4 (GPS2)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
2020-10-12 16:57:29 -03:00
# RC input defaults to UART to allow for bi-dir dshot
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
define HAL_SERIAL6_BAUD 115
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# UART7, RX only for ESC Telemetry
AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
2020-10-12 16:57:29 -03:00
# No DMA because SPI2 requires the DMA slot
PE7 UART7_RX UART7 NODMA
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
PE8 UART7_TX UART7 NODMA LOW
AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
2020-10-12 16:57:29 -03:00
# Motors, bi-directional dshot capable
PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) # M1
PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) # M2 CH1 and CH2 can share ICU Channel for BIDIR
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR # M4
PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) BIDIR # M3
# These are not DMA enabled so not dshot capable
# To get dshot (but not bi-dir dshot) remove the NODMA and add NODMA to USART6
PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) NODMA # M5
PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# extra PWM outs
#PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin
#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer)
AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
2020-10-12 16:57:29 -03:00
DMA_PRIORITY ADC* USART6* TIM1* TIM3* SPI4* SPI1*
AP_HAL_ChibiOS: make dshot DMA unlock event driven in order to allow unlocking from rcout thread refactor rcout into separate thread and process all dshot requests there move uart DMA completion to event model process dshot locks in strick reverse order when unlocking convert Shared_DMA to use mutexes move UART transmit to a thread-per-uart do blocking UART DMA transactions do blocking dshot DMA transactions trim stack sizes cancel dma transactions on dshot when timeout occurs support contention stats on blocking locking move thread supression into chibios_hwdef.py invalidate DMA bounce buffer correctly separate UART initialisation into two halves cleanup UART transaction timeouts add @SYS/uarts.txt move half-duplex handling to TX thread correct thread statistics after use of ExpandingString set unbuffered TX thread priority owner + 1 correctly unlock serial_led_send() don't share IMU RX on KakuteF7Mini observe dshot pulse time more accurately. set TRBUFF bit for UART DMA transfers deal with UART DMA timeouts correctly don't deadlock on reverse ordered DMA locks change PORT_INT_REQUIRED_STACK to 128
2020-12-05 15:16:27 -04:00
DMA_NOSHARE SPI4_RX
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
define HAL_STORAGE_SIZE 16384
HAL_ChibiOS: move to using parameter STORAGE_FLASH_PAGE instead of define
2021-10-27 02:32:43 -03:00
STORAGE_FLASH_PAGE 1
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# enable logging to dataflash
AP_HAL_ChibiOS: eliminate HAL_LOGGING_DATAFLASH This define didn't add anything over HAL_LOGGING_DATAFLASH_ENABLED - and predates it.
2021-11-18 18:37:31 -04:00
define HAL_LOGGING_DATAFLASH_ENABLED 1
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
# spi devices
SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ
SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
# one BARO
BARO BMP280 I2C:0:0x76
# setup for OSD
AP_HAL_ChibiOS: define OSD_ENABLED as 1 rather than ENABLED
2019-12-20 13:46:24 -04:00
define OSD_ENABLED 1
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
define HAL_OSD_TYPE_DEFAULT 1
HAL_ChibiOS: save flash on boards that are critically low move to single OSD font on some boards this saves about 12k on these boards. They were also extremely close to overflowing flash, under 2k on some Now that we support having an OSD font on the microSD card (where available) we can reduce built in fonts without a large functionality impact This also disables some less used features on these boards: - generator support - object avoidance path planning - precision landing This will give us some breathing room on these boards
2021-04-08 18:27:54 -03:00
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini
2019-10-08 16:48:05 -03:00
define STM32_PWM_USE_ADVANCED TRUE
AP_HAL_ChibiOS: Add macros for Fuel options Adds macros for FuelFlow, FuelLevel_PWM, and FuelLevel_Analog. The features are enabled on all 2MB boards.
2022-06-28 14:00:17 -03:00
# disable SMBUS battery monitors to save flash
AP_HAL_ChibiOS: update option names in BATTMonitor in prep for expansion
2022-01-31 14:33:50 -04:00
define AP_BATTMON_SMBUS_ENABLE 0
HAL_ChibiOS: fixed fw build size for several boards
2020-01-18 04:38:19 -04:00
# disable parachute and sprayer to save flash
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0
HAL_ChibiOS: save 7k flash for boards close to flash limit
2020-01-30 19:53:03 -04:00
# reduce max size of embedded params for apj_tool.py
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
AP_HAL_ChibiOS: disable AP_Mount on "mini" boards
2020-07-24 14:47:16 -03:00
define HAL_MOUNT_ENABLED 0
HAL_ChibiOS: save flash on boards that are critically low move to single OSD font on some boards this saves about 12k on these boards. They were also extremely close to overflowing flash, under 2k on some Now that we support having an OSD font on the microSD card (where available) we can reduce built in fonts without a large functionality impact This also disables some less used features on these boards: - generator support - object avoidance path planning - precision landing This will give us some breathing room on these boards
2021-04-08 18:27:54 -03:00
# save some flash
AP_HAL_ChibiOS: rename GENERATOR_ENABLED to HAL_GENERATOR_ENABLED
2021-09-24 00:10:47 -03:00
define HAL_GENERATOR_ENABLED 0
HAL_ChibiOS: save flash on boards that are critically low move to single OSD font on some boards this saves about 12k on these boards. They were also extremely close to overflowing flash, under 2k on some Now that we support having an OSD font on the microSD card (where available) we can reduce built in fonts without a large functionality impact This also disables some less used features on these boards: - generator support - object avoidance path planning - precision landing This will give us some breathing room on these boards
2021-04-08 18:27:54 -03:00
define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
hwdef: remove OpticalFlow from builds in several low-flash boards
2022-01-05 03:36:19 -04:00
define AP_OPTICALFLOW_ENABLED 0
hwdef: remove ICEngine support from many boards Ran out of room on omnibusf4pro-bdshot. Removed ICEngine in the same place we were removing OpticalFlow
2022-08-12 22:03:57 -03:00
define AP_ICENGINE_ENABLED 0