mirror of https://github.com/ArduPilot/ardupilot
103 lines
2.0 KiB
Plaintext
103 lines
2.0 KiB
Plaintext
|
# hw definition file for processing by chibios_pins.py
|
||
|
|
# for mini-pix hardware from RadioLink
|
||
|
|
|
||
|
|
# MCU class and specific type
|
||
|
|
MCU STM32F4xx STM32F405xx
|
||
|
|
|
||
|
|
RAM_SIZE_KB 128
|
||
|
|
CCM_RAM_SIZE_KB 64
|
||
|
|
|
||
|
|
# board ID for firmware load
|
||
|
|
APJ_BOARD_ID 3
|
||
|
|
|
||
|
|
# crystal frequency
|
||
|
|
OSCILLATOR_HZ 24000000
|
||
|
|
|
||
|
|
FLASH_SIZE_KB 1024
|
||
|
|
|
||
|
|
# board voltage
|
||
|
|
STM32_VDD 330U
|
||
|
|
|
||
|
|
STDOUT_SERIAL SD1
|
||
|
|
STDOUT_BAUDRATE 115200
|
||
|
|
|
||
|
|
# only one I2C bus
|
||
|
|
I2C_ORDER I2C1
|
||
|
|
|
||
|
|
# order of UARTs (and USB)
|
||
|
|
UART_ORDER OTG1 USART1
|
||
|
|
|
||
|
|
# PB10 USART3_TX USART3
|
||
|
|
|
||
|
|
# PB14 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0
|
||
|
|
|
||
|
|
PC3 VDD_5V_SENS ADC1
|
||
|
|
|
||
|
|
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||
|
|
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||
|
|
|
||
|
|
# spi bus for IMU
|
||
|
|
PA5 SPI1_SCK SPI1
|
||
|
|
PA6 SPI1_MISO SPI1
|
||
|
|
PA7 SPI1_MOSI SPI1
|
||
|
|
|
||
|
|
PA9 USART1_TX USART1
|
||
|
|
PA10 USART1_RX USART1
|
||
|
|
|
||
|
|
# PA10 IO-debug-console
|
||
|
|
PA11 OTG_FS_DM OTG1
|
||
|
|
PA12 OTG_FS_DP OTG1
|
||
|
|
PA13 JTMS-SWDIO SWD
|
||
|
|
PA14 JTCK-SWCLK SWD
|
||
|
|
|
||
|
|
PB8 I2C1_SCL I2C1
|
||
|
|
PB9 I2C1_SDA I2C1
|
||
|
|
|
||
|
|
PB5 LED_BLUE OUTPUT GPIO(0)
|
||
|
|
PB6 LED_YELLOW OUTPUT GPIO(1)
|
||
|
|
|
||
|
|
PA4 MPU_CS CS
|
||
|
|
|
||
|
|
PC6 TIM8_CH1 TIM8 PWM(1)
|
||
|
|
PC7 TIM8_CH2 TIM8 PWM(2)
|
||
|
|
PC8 TIM8_CH3 TIM8 PWM(3)
|
||
|
|
PC9 TIM8_CH4 TIM8 PWM(4)
|
||
|
|
|
||
|
|
define HAL_STORAGE_SIZE 8192
|
||
|
|
define STORAGE_FLASH_PAGE 11
|
||
|
|
|
||
|
|
FLASH_SIZE_KB 1024
|
||
|
|
|
||
|
|
# reserve 16k for bootloader
|
||
|
|
FLASH_RESERVE_START_KB 16
|
||
|
|
|
||
|
|
# use empty storage for now
|
||
|
|
define HAL_USE_EMPTY_STORAGE
|
||
|
|
|
||
|
|
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
|
||
|
|
|
||
|
|
define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
|
||
|
|
define HAL_COMPASS_HMC5843_I2C_BUS 1
|
||
|
|
define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||
|
|
|
||
|
|
define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||
|
|
define HAL_BARO_MS5611_I2C_BUS 0
|
||
|
|
define HAL_BARO_MS5611_I2C_ADDR 0x77
|
||
|
|
|
||
|
|
# SPI devices
|
||
|
|
# mpu6500 on SPI
|
||
|
|
SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ
|
||
|
|
#SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
|
||
|
|
# hmc5843 on spi?
|
||
|
|
#bus_type:I2C(1) bus:1 address:13 devtype:13(0xd) DEVTYPE_QMC5883L
|
||
|
|
#bus_type:I2C(1) bus:0 address:13 devtype:13(0xd) DEVTYPE_QMC5883L
|
||
|
|
|
||
|
|
|
||
|
|
define OPTFLOW DISABLED
|
||
|
|
|
||
|
|
define STM32_USB_OTG1_IRQ_PRIORITY 14
|
||
|
|
define STM32_USB_OTG1_RX_FIFO_SIZE 1024
|
||
|
|
define STM32_USB_OTG_THREAD_PRIO 40
|
||
|
|
define STM32_USB_OTG_THREAD_STACK_SIZE 256
|
||
|
|
define STM32_USB_OTGFIFO_FILL_BASEPRI 0
|