mirror of https://github.com/ArduPilot/ardupilot
198 lines
4.8 KiB
Plaintext
198 lines
4.8 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for QioTekZealotF407 hardware from Qio-tek.com
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# MCU class and specific type
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MCU CKS32F4xx CKS32F407xx
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# board ID for firmware load
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APJ_BOARD_ID 1065
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FLASH_SIZE_KB 1024
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# reserve 16k for bootloader
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FLASH_RESERVE_START_KB 16
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# USB setup
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USB_STRING_MANUFACTURER "Qiotek"
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# this is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN
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PA9 VBUS INPUT OPENDRAIN
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# The normal usage of this ordering is:
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# 1) SERIAL0: console (primary mavlink, usually USB)
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# 2) SERIAL1: telem1
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# 3) SERIAL2: telem2 (recommend ESP8266)
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# 4) SERIAL3: primary GPS
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# 5) SERIAL4: telem3 or GPS2
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# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)
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SERIAL_ORDER OTG1 USART6 USART3 USART1 UART4 USART2
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# UART3
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# USART2 for Mavlink2 wifi module set baudrate to 921600
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2
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# USART1 for gps1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# UART4
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# USART6
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# SPI1 for IMU Baro OSD
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PB5 SPI1_MOSI SPI1
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PD3 IMU1_CS CS
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PD4 IMU2_CS CS
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PD7 IMU3_CS CS
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PB3 Baro1_CS CS
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PE4 Baro2_CS CS
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PE6 AT7456_CS CS
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# SPI bus for dataflash
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PB13 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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PC13 FRAM_CS CS SPEED_VERYLOW
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# SPI devices
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SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu2 SPI1 DEVID2 IMU2_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu3 SPI1 DEVID3 IMU3_CS MODE3 2*MHZ 8*MHZ
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SPIDEV baro1 SPI1 DEVID2 Baro1_CS MODE3 5*MHZ 5*MHZ
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SPIDEV baro2 SPI1 DEVID1 Baro2_CS MODE3 5*MHZ 5*MHZ
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SPIDEV osd SPI1 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE0 8*MHZ 8*MHZ
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# four IMUs, adi16740 is used, then imu3 will be removed
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IMU Invensensev3 SPI:imu1 ROTATION_NONE
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IMU Invensensev3 SPI:imu2 ROTATION_NONE
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IMU Invensense SPI:imu2 ROTATION_PITCH_180
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# two Baro sensors
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BARO DPS280 SPI:baro1
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#BARO DPS280 SPI:baro2
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# define the pins for the microSD card.
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PC8 SDIO_D0 SDIO
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PC9 SDIO_D1 SDIO
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PC10 SDIO_D2 SDIO
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PC11 SDIO_D3 SDIO
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PC12 SDIO_CK SDIO
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PD2 SDIO_CMD SDIO
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# enable FAT filesystem support
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define HAL_OS_FATFS_IO 1
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# now some defines for logging and terrain data files
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# define the order that I2C buses
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I2C_ORDER I2C1 I2C2
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# look for I2C compass
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180
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COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 1
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# PWM out pins
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PA6 TIM3_CH1 TIM3 PWM(1) GPIO(50)
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PA7 TIM3_CH2 TIM3 PWM(2) GPIO(51)
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53)
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PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
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PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
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PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
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PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
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PE7 EXTERN_GPIO1 OUTPUT GPIO(1)
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PE8 EXTERN_GPIO2 OUTPUT GPIO(2)
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PE2 EXTERN_GPIO3 OUTPUT GPIO(3)
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PE3 EXTERN_GPIO4 OUTPUT GPIO(4)
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PE1 EXTERN_GPIO5 OUTPUT GPIO(5)
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PE0 EXTERN_GPIO6 OUTPUT GPIO(6)
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# also USART6_RX for serial RC
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PA15 TIM2_CH1 TIM2 RCININT PULLDOWN LOW
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# LED setup is similar to PixRacer
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define HAL_HAVE_PIXRACER_LED
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PE10 LED_RED OUTPUT GPIO(10)
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PE12 LED_GREEN OUTPUT GPIO(11)
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PE15 LED_BLUE OUTPUT GPIO(12)
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define HAL_GPIO_A_LED_PIN 10
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define HAL_GPIO_B_LED_PIN 11
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define HAL_GPIO_C_LED_PIN 12
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# analog in 6.6V
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PC1 ADC_1 ADC1 SCALE(2)
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# define the primary battery connectors.
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PA3 BATT_CURRENT_SENS ADC1 SCALE(2)
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(2)
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PC5 BATT2_CURRENT_SENS ADC1 SCALE(2)
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PC4 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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PC0 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
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#PB2 HEATER_EN OUTPUT LOW GPIO(5)
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#define HAL_HEATER_GPIO_PIN 5
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#define HAL_IMU_TEMP_DEFAULT 45
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define HAL_HAVE_SAFETY_SWITCH 1
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PB15 LED_SAFETY OUTPUT
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PB12 SAFETY_IN INPUT PULLDOWN
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PB14 TIM12_CH1 TIM12 ALARM
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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define HAL_STORAGE_SIZE 16384
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# --------------------- save flash ----------------------
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include ../include/minimize_features.inc
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# setup for OSD
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undef OSD_ENABLED
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font1.bin
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