mirror of https://github.com/ArduPilot/ardupilot
225 lines
5.1 KiB
Plaintext
225 lines
5.1 KiB
Plaintext
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# hw definition file for SpeedyBee F4 WING hardware
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# tested on the Speedybee F405 WING board
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#
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 1106
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 1024
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 1
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
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# LEDs
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PA13 LED_GREEN OUTPUT LOW GPIO(0)
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PA14 LED_BLUE OUTPUT LOW GPIO(1)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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# buzzer
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PC15 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# spi1 bus for IMU
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA4 MPU_CS CS
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# spi2 for OSD
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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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PB12 OSD_CS CS
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# spi3 for sdcard
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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PC14 SDCARD_CS CS
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# only one I2C bus in normal config
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# analog pins
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC4 RSSI_ADC_PIN ADC1 SCALE(1)
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PC5 PRESSURE_SENS ADC1 SCALE(1)
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define HAL_DEFAULT_AIRSPEED_PIN 15
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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11.05 # matched to PDB board
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define HAL_BATT_CURR_SCALE 50 # matched to PDB board
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# analog rssi pin
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define BOARD_RSSI_ANA_PIN 14
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# USART1 (ELRS)
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2 (RCIN with inverter)
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PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
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# alternative with PA3 as USART2_RX
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA ALT(1)
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# USART3 (GPS)
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PC10 USART3_TX USART3
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PC11 USART3_RX USART3 NODMA
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# UART4 serial4
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4 NODMA
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# USART5 (DJI / VTX)
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5 NODMA
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# UART6 (onboard Telemetry)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define HAL_SERIAL6_BAUD 115
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# PWM out pins. Note that channel order follows the ArduPilot motor
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# order conventions
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PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50)
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PB6 TIM4_CH1 TIM4 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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PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54)
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PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55)
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PB14 TIM8_CH2N TIM8 PWM(7) GPIO(56)
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PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57)
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PB10 TIM2_CH3 TIM2 PWM(9) GPIO(58)
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PB11 TIM2_CH4 TIM2 PWM(10) GPIO(59)
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PB15 TIM1_CH3N TIM1 PWM(11) GPIO(60)
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PA8 TIM1_CH1 TIM1 PWM(12) GPIO(61)# LED
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# one IMU
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IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# one baro
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BARO SPL06 I2C:0:0x76
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_SPL06_ENABLED 1
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# ICM42688P on SPI1
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SPIDEV icm42605 SPI1 DEVID1 MPU_CS MODE3 2*MHZ 8*MHZ
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# OSD on SPI2
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SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
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# SD Card on SPI3
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SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
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# filesystem setup on sdcard
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define HAL_OS_FATFS_IO 1
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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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# setup for OSD
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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/font0.bin
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define STM32_PWM_USE_ADVANCED TRUE
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# reduce max size of embedded params for apj_tool.py
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define AP_PARAM_MAX_EMBEDDED_PARAM 1024
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define HAL_WITH_DSP FALSE
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# save some flash
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# disable SMBUS and fuel battery monitors to save flash
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define AP_BATTMON_SMBUS_ENABLE 0
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define AP_BATTMON_FUEL_ENABLE 0
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define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0
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define HAL_BATTMON_INA2XX_ENABLED 0
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# disable parachute and sprayer to save flash
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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define AP_GRIPPER_ENABLED 0
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define HAL_GENERATOR_ENABLED 0
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define AP_ICENGINE_ENABLED 0
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#define LANDING_GEAR_ENABLED 0
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define WINCH_ENABLED 0
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define HAL_ADSB_ENABLED 0
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define AC_OAPATHPLANNER_ENABLED 0
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define PRECISION_LANDING 0
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#define HAL_BARO_WIND_COMP_ENABLED 0
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define AP_OPTICALFLOW_ENABLED 0
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# Disable un-needed hardware drivers
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define HAL_WITH_ESC_TELEM 0
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define AP_FETTEC_ONEWIRE_ENABLED 0
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define AP_VOLZ_ENABLED 0
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define AP_ROBOTISSERVO_ENABLE 0
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define HAL_PICCOLO_CAN_ENABLE 0
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define HAL_TORQEEDO_ENABLED 0
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define HAL_RUNCAM_ENABLED 0
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define HAL_HOTT_TELEM_ENABLED 0
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define HAL_NMEA_OUTPUT_ENABLED 0
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define HAL_BUTTON_ENABLED 0
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define AP_NOTIFY_OREOLED_ENABLED 0
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#only support MS4525 ANALOG ASP5033 driver
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define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
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define AP_AIRSPEED_MS4525_ENABLED 1
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define AP_AIRSPEED_ANALOG_ENABLED 1
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define AP_AIRSPEED_ASP5033_ENABLED 1
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#only support UBLOX and NMEA GPS driver
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define AP_GPS_BACKEND_DEFAULT_ENABLED 0
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define AP_GPS_UBLOX_ENABLED 1
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define AP_GPS_NMEA_ENABLED 1
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define AP_TRAMP_ENABLED 1
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