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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat

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AP_HAL_ChibiOS: support iFlight BeastF7 reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7
2021-01-05 18:03:38 -04:00
# hw definition file for processing by chibios_pins.py
# for iFlight Beast F7 hardware.
# thanks to betaflight for pin information
# MCU class and specific type
MCU STM32F7xx STM32F745xx
# board ID for firmware load
APJ_BOARD_ID 1026
# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000
FLASH_SIZE_KB 1024
# bootloader takes first sector
FLASH_RESERVE_START_KB 96
# only one I2C bus
I2C_ORDER I2C1
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
# Buzzer - DMA timer channel use by LEDs
#PD15 TIM4_CH4 TIM4 GPIO(80) ALARM
PD15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0
# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# Debug
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# SPI1 for MPU6000
PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# SPI3 for Flash Storage 16mb
PA15 FLASH_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
# SPI4 for OSD
PE4 AT7456E_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# I2C1 for baro
PB8 I2C1_SCL I2C1 PULLUP
PB9 I2C1_SDA I2C1 PULLUP
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
AP_HAL_ChibiOS: correct current scale for BeastH7 and BeastF7
2021-04-05 08:44:44 -03:00
define HAL_BATT_CURR_SCALE 100
AP_HAL_ChibiOS: support iFlight BeastF7 reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7
2021-01-05 18:03:38 -04:00
define HAL_BATT_MONITOR_DEFAULT 4
PC5 RSSI_ADC ADC1
# USART1 - RCIN
PA10 USART1_RX USART1
PA9 USART1_TX USART1
# USART2 (DJI)
PA2 USART2_TX USART2
PA3 USART2_RX USART2 NODMA
# USART3 (DJI RCIN)
PB11 USART3_RX USART3
define HAL_SERIAL3_PROTOCOL SerialProtocol_RCIN
# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA
# UART7
PE7 UART7_RX UART7
PE8 UART7_TX UART7 NODMA
# Motors
AP_HAL_ChibiOS: on BeastF7 share TIM3 UP/CH and give flash SPI dedicated channel
2021-01-20 04:21:01 -04:00
PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) BIDIR # 1
AP_HAL_ChibiOS: support iFlight BeastF7 reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7
2021-01-05 18:03:38 -04:00
PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) # 2
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR # 3
AP_HAL_ChibiOS: on BeastF7 share TIM3 UP/CH and give flash SPI dedicated channel
2021-01-20 04:21:01 -04:00
PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) # 4
AP_HAL_ChibiOS: support iFlight BeastF7 reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7
2021-01-05 18:03:38 -04:00
# NeoPixel LED strip
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED
DMA_PRIORITY USART1* TIM1* TIM3*
AP_HAL_ChibiOS: tidy up beastF7 DMA channels
2021-04-03 09:57:45 -03:00
# TIM3_CH4 is shared with TIM3_UP
DMA_NOSHARE SPI3* TIM1_CH2
AP_HAL_ChibiOS: support iFlight BeastF7 reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7
2021-01-05 18:03:38 -04:00
define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1
# enable logging to dataflash
define HAL_LOGGING_DATAFLASH
# spi devices
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
SPIDEV dataflash SPI3 DEVID2 FLASH_CS MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
# no built-in compass and no external I2C so no compass
define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_I2C_INTERNAL_MASK 0
# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# one BARO
BARO BMP280 I2C:0:0x76
# setup for OSD
define OSD_ENABLED 1
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: support iFlight BeastF7 reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7
2021-01-05 18:03:38 -04:00
define STM32_PWM_USE_ADVANCED TRUE
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