ardupilot/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat

# hw definition file for processing by chibios_pins.py
# for FLYWOO Goku GN F745.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 1027

# 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

# 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 Flash Storage 16mb
PA4 FLASH_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 for OSD
PB12 AT7456E_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI4 for MPU6000
PE4 MPU6000_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# I2C1 for baro
PB6 I2C1_SCL I2C1 PULLUP
PB7 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
define HAL_BATT_CURR_SCALE 28.5
define HAL_BATT_MONITOR_DEFAULT 4

PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 15

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7

# USART1
PA10 USART1_RX USART1 NODMA
PA9  USART1_TX USART1

# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2 NODMA

# USART3
PB10 USART3_TX USART3
PB11 USART3_RX USART3

# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA

# UART5
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA

# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6 NODMA

# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# Motors

PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR	# Motor 1
PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51) 			# Motor 2
PE9  TIM1_CH1 TIM1 PWM(3) GPIO(52)			# Motor 3
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR	# Motor 4
PC9  TIM8_CH4 TIM8 PWM(5) GPIO(54)			# Motor 5
PA3  TIM5_CH4 TIM5 PWM(6) GPIO(55)			# Motor 6
PB4  TIM3_CH1 TIM3 PWM(7) GPIO(56)			# Motor 7
PB5  TIM3_CH2 TIM3 PWM(8) GPIO(57)			# Motor 8

# NeoPixel LED strip
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
PA2 LED0 OUTPUT LOW GPIO(90) # LED

# Misc Timer Stuff
PE13 TIM1_CH3 TIM1 PWM(10) GPIO(59)			# PPM/Unused - for future use according to Flywoo

DMA_PRIORITY USART1* TIM1* TIM3*
DMA_NOSHARE SPI1_TX SPI1_RX TIM1_CH2 TIM3_CH3
NODMA I2C*
define STM32_I2C_USE_DMA FALSE

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# spi devices
SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 104*MHZ 104*MHZ
SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3  1*MHZ  4*MHZ
SPIDEV icm42688 SPI4 DEVID4 MPU6000_CS MODE3  1*MHZ  8*MHZ
SPIDEV bmi270 SPI4 DEVID4 MPU6000_CS MODE3  1*MHZ  8*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

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
IMU BMI270 SPI:bmi270 ROTATION_PITCH_180
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# one BARO
BARO BMP280 I2C:0:0x76
BARO SPL06  I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_SPL06_ENABLED 1
define AP_BARO_BMP280_ENABLED 1

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

define STM32_PWM_USE_ADVANCED TRUE

# FFT option (disabled by default)
# define HAL_GYROFFT_ENABLED 1
# define AC_OAPATHPLANNER_ENABLED 0

# EK2 options (disabled by default)
# define HAL_NAVEKF2_AVAILABLE 1
# define HAL_NAVEKF3_AVAILABLE 0

# save some flash
include ../include/save_some_flash.inc
define AP_GRIPPER_ENABLED 0
define HAL_PARACHUTE_ENABLED 0


# minimal drivers to reduce flash usage
include ../include/minimal.inc
define HAL_SPRAYER_ENABLED 0
define AP_BATTERY_SMBUS_ENABLED 0
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00			`# hw definition file for processing by chibios_pins.py`
			`# for FLYWOO Goku GN F745.`
			`# thanks to betaflight for pin information`

			`# MCU class and specific type`
			`MCU STM32F7xx STM32F745xx`

			`# board ID for firmware load`
			`APJ_BOARD_ID 1027`

			`# 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`

			`# 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 Flash Storage 16mb`
			`PA4 FLASH_CS CS`
			`PA5 SPI1_SCK SPI1`
			`PA6 SPI1_MISO SPI1`
			`PA7 SPI1_MOSI SPI1`

			`# SPI2 for OSD`
			`PB12 AT7456E_CS CS`
			`PB13 SPI2_SCK SPI2`
			`PB14 SPI2_MISO SPI2`
			`PB15 SPI2_MOSI SPI2`

			`# SPI4 for MPU6000`
			`PE4 MPU6000_CS CS`
			`PE2 SPI4_SCK SPI4`
			`PE5 SPI4_MISO SPI4`
			`PE6 SPI4_MOSI SPI4`

			`# I2C1 for baro`
			`PB6 I2C1_SCL I2C1 PULLUP`
			`PB7 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`
			`define HAL_BATT_CURR_SCALE 28.5`
			`define HAL_BATT_MONITOR_DEFAULT 4`

			`PC5 RSSI_ADC ADC1`
AP_HAL_ChibiOS: hwdef for FlywooF745v2 Add SPL06 baro to FlywooF745v1 2023-03-18 12:07:28 -03:00			`define BOARD_RSSI_ANA_PIN 15`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00
			`# order of UARTs (and USB)`
			`SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7`

			`# USART1`
			`PA10 USART1_RX USART1 NODMA`
			`PA9 USART1_TX USART1`

			`# USART2`
			`PD5 USART2_TX USART2`
			`PD6 USART2_RX USART2 NODMA`

			`# USART3`
			`PB10 USART3_TX USART3`
			`PB11 USART3_RX USART3`

			`# UART4`
			`PA0 UART4_TX UART4`
			`PA1 UART4_RX UART4 NODMA`

			`# UART5`
			`PC12 UART5_TX UART5 NODMA`
			`PD2 UART5_RX UART5 NODMA`

			`# USART6`
			`PC6 USART6_TX USART6`
			`PC7 USART6_RX USART6 NODMA`

			`# UART7`
			`PE7 UART7_RX UART7 NODMA`
			`PE8 UART7_TX UART7 NODMA`

			`# Motors`

			`PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # Motor 1`
			`PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # Motor 2`
			`PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) # Motor 3`
			`PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR # Motor 4`
			`PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) # Motor 5`
			`PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # Motor 6`
			`PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56) # Motor 7`
			`PB5 TIM3_CH2 TIM3 PWM(8) GPIO(57) # Motor 8`

			`# NeoPixel LED strip`
			`PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)`
			`PA2 LED0 OUTPUT LOW GPIO(90) # LED`

			`# Misc Timer Stuff`
			`PE13 TIM1_CH3 TIM1 PWM(10) GPIO(59) # PPM/Unused - for future use according to Flywoo`

			`DMA_PRIORITY USART1* TIM1* TIM3*`
			`DMA_NOSHARE SPI1_TX SPI1_RX TIM1_CH2 TIM3_CH3`
AP_HAL_ChibiOS: disable DMA on I2C on bdshot boards to free up DMA channels 2022-09-14 15:54:54 -03:00			`NODMA I2C*`
			`define STM32_I2C_USE_DMA FALSE`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00
			`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: Add FlywooF745 2021-03-13 10:45:25 -04:00
			`# 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: Add FlywooF745 2021-03-13 10:45:25 -04:00
			`# spi devices`
AP_HAL_ChibiOS: hwdef for FlywooF745v2 Add SPL06 baro to FlywooF745v1 2023-03-18 12:07:28 -03:00			`SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 104MHZ 104MHZ`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00			`SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10MHZ 10MHZ`
			`SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3 1MHZ 4MHZ`
AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745 2023-03-22 08:37:43 -03:00			`SPIDEV icm42688 SPI4 DEVID4 MPU6000_CS MODE3 1MHZ 8MHZ`
			`SPIDEV bmi270 SPI4 DEVID4 MPU6000_CS MODE3 1MHZ 8MHZ`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00
AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-04 17:48:03 -03:00			`# no built-in compass, but probe the i2c bus for all possible`
			`# external compass types`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00			`define ALLOW_ARM_NO_COMPASS`
AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-04 17:48:03 -03:00			`define HAL_PROBE_EXTERNAL_I2C_COMPASSES`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00			`define HAL_I2C_INTERNAL_MASK 0`

			`# one IMU`
			`IMU Invensense SPI:mpu6000 ROTATION_YAW_180`
AP_HAL_ChibiOS: add BMI270 and ICM42688 to FlywooF745 2023-03-22 08:37:43 -03:00			`IMU BMI270 SPI:bmi270 ROTATION_PITCH_180`
			`IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00			`define HAL_DEFAULT_INS_FAST_SAMPLE 1`

			`# one BARO`
			`BARO BMP280 I2C:0:0x76`
AP_HAL_ChibiOS: hwdef for FlywooF745v2 Add SPL06 baro to FlywooF745v1 2023-03-18 12:07:28 -03:00			`BARO SPL06 I2C:0:0x76`
			`define AP_BARO_BACKEND_DEFAULT_ENABLED 0`
			`define AP_BARO_SPL06_ENABLED 1`
			`define AP_BARO_BMP280_ENABLED 1`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00
			`# 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: Add FlywooF745 2021-03-13 10:45:25 -04:00
			`define STM32_PWM_USE_ADVANCED TRUE`

			`# FFT option (disabled by default)`
AP_HAL_ChibiOS: use minimize_features.inc for HAL_WITH_DSP 2022-06-27 04:07:48 -03:00			`# define HAL_GYROFFT_ENABLED 1`
AP_HAL_ChibiOS: Add FlywooF745 2021-03-13 10:45:25 -04:00			`# define AC_OAPATHPLANNER_ENABLED 0`

			`# EK2 options (disabled by default)`
			`# define HAL_NAVEKF2_AVAILABLE 1`
			`# define HAL_NAVEKF3_AVAILABLE 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: factor out a save_some_flash.inc 2022-10-25 02:17:01 -03:00			`include ../include/save_some_flash.inc`
AP_HAL_ChibiOS: add AP_GRIPPER_ENABLED 2022-09-20 04:37:47 -03:00			`define AP_GRIPPER_ENABLED 0`
HAL_ChibiOS: allow FlywooF745 to build again 2021-08-26 01:08:04 -03:00			`define HAL_PARACHUTE_ENABLED 0`
hwdef: minimal GPS support for Flywoo baords 2022-04-06 20:35:50 -03:00

AP_HAL_ChibiOS: allow airspeed backends to be compiled out 2022-04-14 03:28:05 -03:00			`# minimal drivers to reduce flash usage`
			`include ../include/minimal.inc`
HAL_ChibiOS: allow FlywooF745 to build again 2021-08-26 01:08:04 -03:00			`define HAL_SPRAYER_ENABLED 0`
AP_HAL_ChibiOS: add defines for all battery backends 2023-03-06 22:02:49 -04:00			`define AP_BATTERY_SMBUS_ENABLED 0`