2018-10-02 19:52:30 -03:00
|
|
|
# hw definition file for processing by chibios_pins.py
|
|
|
|
|
# Omnibus F4 V6
|
|
|
|
|
# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, no flash log storage
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 137
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
|
|
|
|
# ChibiOS system timer
|
|
|
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
|
|
|
|
|
|
# flash size
|
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
|
FLASH_RESERVE_START_KB 64
|
|
|
|
|
|
|
|
|
|
# order of I2C buses
|
|
|
|
|
I2C_ORDER I2C1
|
|
|
|
|
|
|
|
|
|
# order of UARTs
|
|
|
|
|
|
2020-04-24 08:10:08 -03:00
|
|
|
SERIAL_ORDER OTG1 USART1 UART4 USART6 USART3 USART2
|
2018-10-02 19:52:30 -03:00
|
|
|
|
|
|
|
|
|
|
|
|
|
#PINS
|
|
|
|
|
|
|
|
|
|
PA10 USART1_RX USART1
|
|
|
|
|
PA9 USART1_TX USART1
|
|
|
|
|
|
|
|
|
|
PC6 USART6_TX USART6
|
|
|
|
|
PC7 USART6_RX USART6
|
|
|
|
|
|
|
|
|
|
PB10 USART3_TX USART3
|
|
|
|
|
PB11 USART3_RX USART3
|
|
|
|
|
|
|
|
|
|
# UART4 (only RX) #"TX" pin PA0 is used for RSSI_ADC_CHANNEL
|
|
|
|
|
PA1 UART4_RX UART4
|
|
|
|
|
|
2020-04-16 05:52:57 -03:00
|
|
|
# transmit only usart2, for telemetry output (eg. Hott telem)
|
|
|
|
|
PA2 USART2_TX USART2
|
2018-10-02 19:52:30 -03:00
|
|
|
|
|
|
|
|
#adc
|
|
|
|
|
PC1 BAT_CURR_SENS ADC1 SCALE(1)
|
|
|
|
|
PC2 BAT_VOLT_SENS ADC1 SCALE(1)
|
|
|
|
|
PA0 RSSI_IN ADC1
|
|
|
|
|
|
|
|
|
|
#pwm output # PWM out pins. Channel order (GPIOs) follows the ArduPilot motor
|
|
|
|
|
# order conventions
|
|
|
|
|
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
|
|
|
|
|
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
|
|
|
|
|
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
|
|
|
|
|
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
|
|
|
|
|
|
|
|
|
|
PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54)
|
|
|
|
|
PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# spi bus for IMU
|
|
|
|
|
PA5 SPI1_SCK SPI1
|
|
|
|
|
PA6 SPI1_MISO SPI1
|
|
|
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
PC12 SPI3_MOSI SPI3
|
|
|
|
|
PC11 SPI3_MISO SPI3
|
|
|
|
|
PC10 SPI3_SCK SPI3
|
|
|
|
|
|
2019-01-22 17:22:55 -04:00
|
|
|
# SPI2 for flash
|
|
|
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
|
PB14 SPI2_MISO SPI2
|
|
|
|
|
PB13 SPI2_SCK SPI2
|
|
|
|
|
PB12 FLASH_CS CS
|
|
|
|
|
|
2018-10-02 19:52:30 -03:00
|
|
|
PA4 MPU6000_CS CS #SPI1_NSS
|
|
|
|
|
PA15 OSD_CS CS #SPI3_NSS
|
|
|
|
|
PB3 BMP280_CS CS #SPI3_NSS
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# note that this board needs PULLUP on I2C pins
|
|
|
|
|
PB8 I2C1_SCL I2C1 PULLUP
|
|
|
|
|
PB9 I2C1_SDA I2C1 PULLUP
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
PA8 LED OUTPUT HIGH GPIO(41)
|
|
|
|
|
#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM
|
|
|
|
|
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
PC5 VBUS INPUT OPENDRAIN
|
|
|
|
|
|
|
|
|
|
# LED strip output pad used for RC input
|
|
|
|
|
# timer 4 is free (not used for pwm)
|
|
|
|
|
PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW
|
|
|
|
|
|
|
|
|
|
#Omnibus F4 V3 and later had hw inverter on UART6
|
|
|
|
|
#Overide it to use as GPS UART port
|
|
|
|
|
#PC8 SBUS_INVERT_RX OUTPUT LOW
|
|
|
|
|
#PC9 SBUS_INVERT_TX OUTPUT LOW
|
|
|
|
|
|
|
|
|
|
########### SPI Devices
|
|
|
|
|
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
|
|
|
|
|
SPIDEV bmp280 SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
|
|
|
|
|
SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
|
2019-01-22 17:22:55 -04:00
|
|
|
SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
|
|
|
|
|
|
|
|
|
|
# enable logging to dataflash
|
2021-11-18 18:37:31 -04:00
|
|
|
define HAL_LOGGING_DATAFLASH_ENABLED 1
|
2018-10-02 19:52:30 -03:00
|
|
|
|
2019-06-02 04:39:07 -03:00
|
|
|
# one IMU
|
|
|
|
|
IMU Invensense SPI:mpu6000 ROTATION_YAW_90
|
2018-10-02 19:52:30 -03:00
|
|
|
|
2019-06-02 04:39:07 -03:00
|
|
|
# one baro
|
|
|
|
|
BARO BMP280 SPI:bmp280
|
2022-10-19 09:25:59 -03:00
|
|
|
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
|
|
|
|
|
define AP_BARO_BMP280_ENABLED 1
|
2018-10-02 19:52:30 -03:00
|
|
|
|
|
|
|
|
# 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
|
|
|
|
|
|
2021-10-27 02:32:43 -03:00
|
|
|
STORAGE_FLASH_PAGE 1
|
2018-10-02 19:52:30 -03:00
|
|
|
define HAL_STORAGE_SIZE 15360
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# define default battery setup
|
|
|
|
|
define HAL_BATT_VOLT_PIN 12
|
|
|
|
|
define HAL_BATT_CURR_PIN 11
|
|
|
|
|
define HAL_BATT_VOLT_SCALE 11
|
|
|
|
|
define HAL_BATT_CURR_SCALE 18.2
|
|
|
|
|
|
|
|
|
|
#analog rssi pin (also could be used as analog airspeed input)
|
|
|
|
|
#PA0 - ADC123_CH0
|
|
|
|
|
define BOARD_RSSI_ANA_PIN 0
|
|
|
|
|
|
|
|
|
|
define HAL_GPIO_A_LED_PIN 41
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#To have complementary channels work we define this
|
|
|
|
|
define STM32_PWM_USE_ADVANCED TRUE
|
|
|
|
|
|
2019-12-20 13:46:24 -04:00
|
|
|
define OSD_ENABLED 1
|
2018-10-02 19:52:30 -03:00
|
|
|
#font for the osd
|
|
|
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
2022-04-05 21:48:31 -03:00
|
|
|
|
2022-04-14 03:28:05 -03:00
|
|
|
# minimal drivers to reduce flash usage
|
|
|
|
|
include ../include/minimal.inc
|
