2019-07-11 05:11:40 -03:00
|
|
|
# hw definition file for processing by chibios_pins.py
|
|
|
|
|
# for Matek F765-Wing
|
|
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32F7xx STM32F767xx
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 143
|
|
|
|
|
|
|
|
|
|
# crystal frequency, setup to use external oscillator
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
|
|
|
|
|
|
# leave 2 sectors free
|
|
|
|
|
FLASH_RESERVE_START_KB 96
|
|
|
|
|
|
|
|
|
|
|
2019-12-23 04:33:48 -04:00
|
|
|
STM32_ST_USE_TIMER 12
|
2019-07-11 05:11:40 -03:00
|
|
|
define CH_CFG_ST_RESOLUTION 16
|
|
|
|
|
|
|
|
|
|
# two I2C bus
|
|
|
|
|
I2C_ORDER I2C2 I2C1
|
|
|
|
|
|
|
|
|
|
# order of UARTs (and USB)
|
2020-11-26 02:48:59 -04:00
|
|
|
SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 UART5
|
2019-07-11 05:11:40 -03:00
|
|
|
|
2019-10-28 23:55:06 -03:00
|
|
|
# tonealarm support
|
|
|
|
|
PB9 TIM11_CH1 TIM11 GPIO(32) ALARM
|
2019-07-11 05:11:40 -03:00
|
|
|
|
|
|
|
|
# PA10 IO-debug-console
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# SPI1 for IMU1 (MPU6000)
|
|
|
|
|
PA5 SPI1_SCK SPI1
|
|
|
|
|
PA6 SPI1_MISO SPI1
|
|
|
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
PC4 IMU1_CS CS
|
|
|
|
|
|
|
|
|
|
# SPI2 for MAX7456 OSD
|
|
|
|
|
PB12 MAX7456_CS CS
|
|
|
|
|
PB13 SPI2_SCK SPI2
|
|
|
|
|
PB14 SPI2_MISO SPI2
|
|
|
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
# SPI3 for IMU2 (ICM20602)
|
|
|
|
|
PB3 SPI3_SCK SPI3
|
|
|
|
|
PB4 SPI3_MISO SPI3
|
|
|
|
|
PB5 SPI3_MOSI SPI3
|
|
|
|
|
PD7 IMU2_CS CS
|
|
|
|
|
|
|
|
|
|
# SPI4
|
|
|
|
|
PE11 SPARE_CS CS
|
|
|
|
|
PE12 SPI4_SCK SPI4
|
|
|
|
|
PE13 SPI4_MISO SPI4
|
|
|
|
|
PE14 SPI4_MOSI SPI4
|
|
|
|
|
|
|
|
|
|
# I2C1
|
|
|
|
|
PB6 I2C1_SCL I2C1
|
|
|
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
|
|
|
|
|
|
# I2C2
|
|
|
|
|
PB10 I2C2_SCL I2C2
|
|
|
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
|
|
|
|
|
|
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
|
|
|
PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
|
|
|
|
|
|
PA4 BATT_VOLTAGE_SENS2 ADC1 SCALE(1) # analog pin4
|
|
|
|
|
PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1) # analog pin15
|
|
|
|
|
|
|
|
|
|
PC0 PRESSURE_SENS ADC1 SCALE(2)
|
|
|
|
|
define HAL_DEFAULT_AIRSPEED_PIN 10
|
|
|
|
|
|
|
|
|
|
# define default battery setup
|
2021-07-06 06:18:57 -03:00
|
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
2019-07-11 05:11:40 -03:00
|
|
|
define HAL_BATT_VOLT_PIN 12
|
|
|
|
|
define HAL_BATT_CURR_PIN 13
|
2020-05-16 19:28:42 -03:00
|
|
|
define HAL_BATT_VOLT_SCALE 11
|
|
|
|
|
define HAL_BATT_CURR_SCALE 40
|
2019-07-11 05:11:40 -03:00
|
|
|
|
2021-07-06 06:18:57 -03:00
|
|
|
define HAL_BATT2_VOLT_PIN 4
|
|
|
|
|
define HAL_BATT2_CURR_PIN 15
|
|
|
|
|
|
2019-07-11 05:11:40 -03:00
|
|
|
# analog RSSI
|
|
|
|
|
PC1 RSSI_ADC ADC1
|
|
|
|
|
define BOARD_RSSI_ANA_PIN 11
|
|
|
|
|
|
|
|
|
|
PD10 LED0 OUTPUT LOW GPIO(90) # blue
|
|
|
|
|
PD11 LED1 OUTPUT LOW GPIO(91) # green
|
|
|
|
|
define HAL_GPIO_A_LED_PIN 91
|
|
|
|
|
define HAL_GPIO_B_LED_PIN 90
|
|
|
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
|
|
|
|
|
|
# USART1 (telem2)
|
|
|
|
|
PA10 USART1_RX USART1
|
|
|
|
|
PA9 USART1_TX USART1
|
|
|
|
|
|
|
|
|
|
# USART2 (GPS1)
|
|
|
|
|
PD5 USART2_TX USART2 NODMA
|
|
|
|
|
PD6 USART2_RX USART2 NODMA
|
|
|
|
|
|
|
|
|
|
# USART3 (GPS2)
|
|
|
|
|
PD9 USART3_RX USART3 NODMA
|
|
|
|
|
PD8 USART3_TX USART3 NODMA
|
|
|
|
|
|
|
|
|
|
# UART4 (disable if used for CAN)
|
|
|
|
|
PD1 UART4_TX UART4 NODMA
|
|
|
|
|
PD0 UART4_RX UART4 NODMA
|
|
|
|
|
|
2020-11-26 02:48:59 -04:00
|
|
|
# UART5 (RX only, for ESC telem)
|
|
|
|
|
PB8 UART5_RX UART5 NODMA
|
2019-07-11 05:11:40 -03:00
|
|
|
|
2020-01-01 21:13:43 -04:00
|
|
|
# USART6 (RC input), SERIAL7
|
2021-10-10 18:28:57 -03:00
|
|
|
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
|
2019-12-02 18:54:19 -04:00
|
|
|
PC6 USART6_TX USART6 NODMA
|
2019-07-11 05:11:40 -03:00
|
|
|
|
2021-10-07 22:19:08 -03:00
|
|
|
# as an alternative config setup the RX6 pin as an uart. This allows
|
2020-01-01 21:13:43 -04:00
|
|
|
# for bi-directional UART based receiver protocols such as FPort
|
|
|
|
|
# without any extra hardware
|
|
|
|
|
PC7 USART6_RX USART6 NODMA ALT(1)
|
2021-10-07 22:19:08 -03:00
|
|
|
PC7 USART6_RX USART6 NODMA ALT(3)
|
2020-01-01 21:13:43 -04:00
|
|
|
|
2019-07-11 05:11:40 -03:00
|
|
|
# UART7 (telem1)
|
|
|
|
|
PE7 UART7_RX UART7
|
|
|
|
|
PE8 UART7_TX UART7
|
|
|
|
|
PE10 UART7_CTS UART7
|
|
|
|
|
PE9 UART7_RTS UART7
|
|
|
|
|
|
2021-10-07 22:19:08 -03:00
|
|
|
# telem1-UART7 RTS and CTS as GPIO in alternative configs
|
|
|
|
|
PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(2) # Cts7 pin as GPIO 1 (set RELAY_PINx = 1 to use it)
|
|
|
|
|
PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(2) # Rts7 pin as GPIO 2 (set RELAY_PINx = 2 to use it)
|
|
|
|
|
PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(3) # Cts7 pin as GPIO 1 (set RELAY_PINx = 1 to use it)
|
|
|
|
|
PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(3) # Rts7 pin as GPIO 2 (set RELAY_PINx = 2 to use it)
|
|
|
|
|
|
|
|
|
|
# alternative configs:
|
|
|
|
|
# 1: bidirectional receiver protocol on RX6 pin
|
|
|
|
|
# 2: extra GPIOs instead of Cts/Rts on UART7_CTS
|
|
|
|
|
# 3: both 1 and 2 combined, GPIO numbers differ to avoid "Duplicate GPIO value" error while generating hwdef.h
|
|
|
|
|
|
2019-07-11 05:11:40 -03:00
|
|
|
# UART8 (spare)
|
|
|
|
|
PE0 UART8_RX UART8 NODMA
|
|
|
|
|
PE1 UART8_TX UART8 NODMA
|
|
|
|
|
|
|
|
|
|
# CAN bus (disabled as used for UART4)
|
|
|
|
|
#PD1 CAN1_TX CAN1
|
|
|
|
|
#PD0 CAN1_RX CAN1
|
|
|
|
|
|
|
|
|
|
# Motors
|
|
|
|
|
PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
|
|
|
|
|
PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
|
|
|
|
|
PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
|
|
|
|
|
PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
|
2019-12-23 04:33:48 -04:00
|
|
|
PB0 TIM8_CH2N TIM8 PWM(5) GPIO(54)
|
|
|
|
|
PB1 TIM8_CH3N TIM8 PWM(6) GPIO(55)
|
2019-07-11 05:11:40 -03:00
|
|
|
PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
|
|
|
|
|
PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
|
|
|
|
|
PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
|
|
|
|
|
PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
|
|
|
|
|
PE5 TIM9_CH1 TIM9 PWM(11) GPIO(60) NODMA
|
|
|
|
|
PE6 TIM9_CH2 TIM9 PWM(12) GPIO(61) NODMA
|
2019-10-28 23:55:06 -03:00
|
|
|
PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
|
2019-07-11 05:11:40 -03:00
|
|
|
|
|
|
|
|
# microSD support
|
|
|
|
|
PC8 SDMMC_D0 SDMMC1
|
|
|
|
|
PC9 SDMMC_D1 SDMMC1
|
|
|
|
|
PC10 SDMMC_D2 SDMMC1
|
|
|
|
|
PC11 SDMMC_D3 SDMMC1
|
|
|
|
|
PC12 SDMMC_CK SDMMC1
|
|
|
|
|
PD2 SDMMC_CMD SDMMC1
|
|
|
|
|
|
|
|
|
|
# GPIOs
|
|
|
|
|
PE4 PINIO1 OUTPUT GPIO(81) LOW
|
|
|
|
|
PE15 PINIO2 OUTPUT GPIO(82) LOW
|
|
|
|
|
|
|
|
|
|
DMA_PRIORITY S*
|
|
|
|
|
|
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
|
|
|
|
define STORAGE_FLASH_PAGE 1
|
|
|
|
|
|
|
|
|
|
# spi devices
|
|
|
|
|
SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ
|
|
|
|
|
SPIDEV icm20602 SPI3 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ
|
|
|
|
|
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
|
|
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
|
|
|
# external compass types
|
|
|
|
|
define ALLOW_ARM_NO_COMPASS
|
|
|
|
|
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
|
|
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
|
|
|
|
|
|
# two IMUs. We put icm20602 first as we can sample accel at 4kHz
|
|
|
|
|
IMU Invensense SPI:icm20602 ROTATION_PITCH_180
|
|
|
|
|
IMU Invensense SPI:mpu6000 ROTATION_ROLL_180
|
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
|
|
|
|
|
2019-10-28 23:55:06 -03:00
|
|
|
# one BARO, multiple possible choices for different
|
2020-12-23 22:02:11 -04:00
|
|
|
# board variants
|
2019-07-11 05:11:40 -03:00
|
|
|
BARO BMP280 I2C:0:0x76
|
2020-07-09 05:15:37 -03:00
|
|
|
BARO DPS310 I2C:0:0x76
|
2019-10-28 23:55:06 -03:00
|
|
|
BARO MS56XX I2C:0:0x77
|
2019-07-11 05:11:40 -03:00
|
|
|
|
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
|
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
|
|
|
|
|
|
# setup for OSD
|
2019-12-20 13:46:24 -04:00
|
|
|
define OSD_ENABLED 1
|
2019-07-11 05:11:40 -03:00
|
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
|
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
