mirror of https://github.com/ArduPilot/ardupilot
171 lines
3.7 KiB
Plaintext
171 lines
3.7 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for Furious FPV F35 Lightning type hardware
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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 135
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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# board voltage
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STM32_VDD 330U
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# flash size
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FLASH_SIZE_KB 1024
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FLASH_RESERVE_START_KB 64
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# console
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#STDOUT_SERIAL SD1
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#STDOUT_BAUDRATE 57600
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# order of I2C buses
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I2C_ORDER I2C1
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# order of UARTs (UART3RX used for RCInput, UART4RX and USART6RX not pinned out)
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UART_ORDER OTG1 USART2 USART1 UART5 EMPTY UART4 USART6
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# USB sensing
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#PA9 VBUS INPUT OPENDRAIN
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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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# UART1 (telem1)
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# UART2 (GPS)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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# UART3RX (RCInput)
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PB11 TIM2_CH4 TIM2 RCININT FLOAT LOW
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PA8 SBUS_INVERT_RX OUTPUT
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# UART4 (user), only TX pinned out
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PA0 UART4_TX UART4
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PC11 UART4_RX UART4
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# UART5 (telem2)
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# USART6 (user), only TX pinned out as "SPO" pin with hw inverter
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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# ADCs
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC3 RSSI_IN ADC1 SCALE(2)
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define BOARD_RSSI_ANA_PIN 13
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# also could be used as analog airspeed input
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#PC3 PRESSURE_SENS ADC1 SCALE(2)
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# VDD sense pin
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#PA4 VDD_5V_SENS ADC1 SCALE(2)
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# LED
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PC10 LED OUTPUT HIGH GPIO(57)
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define HAL_GPIO_A_LED_PIN 57
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# SPI
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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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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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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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# CS pins
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PC0 MPU9250_CS CS
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PA4 OSD_CS CS
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PC5 BMP280_CS CS
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#PB12 SDCARD_CS CS
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PC4 MPU9250_DRDY INPUT
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# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
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#PA13 JTMS-SWDIO SWD
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#PA14 JTCK-SWCLK SWD
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# passive buzzer disabled, optional timers 2 and 5 used for RCinput and STM32
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# PA1 TIM2_CH2 TIM2 GPIO(77) ALARM
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# use active buzzer instead
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PA1 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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# I2C
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# PWM pins S1-S6
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define BOARD_PWM_COUNT_DEFAULT 6
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define STM32_PWM_USE_ADVANCED TRUE
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PC8 TIM8_CH3 TIM8 PWM(1) GPIO(50)
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PC9 TIM8_CH4 TIM8 PWM(2) GPIO(51)
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PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52)
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PB9 TIM4_CH4 TIM4 PWM(4) GPIO(53)
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
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# SPI device table
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SPIDEV mpu9250 SPI3 DEVID1 MPU9250_CS MODE3 4*MHZ 8*MHZ
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SPIDEV bmp280 SPI3 DEVID2 BMP280_CS MODE3 1*MHZ 8*MHZ
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SPIDEV osd SPI1 DEVID1 OSD_CS MODE0 10*MHZ 10*MHZ
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#SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90
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# mag defines
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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define HAL_COMPASS_AK8963_MPU9250_ROTATION ROTATION_YAW_90
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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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# baro defines
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define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
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define HAL_BARO_BMP280_NAME "bmp280"
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# external baro probing
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define HAL_PROBE_EXTERNAL_I2C_BAROS
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# no onboard SD, filesystem support disabled until flash logging implemented
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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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# OSD support
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define OSD_ENABLED ENABLED
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# available storage
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define HAL_STORAGE_SIZE 15360
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define STORAGE_FLASH_PAGE 1
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# defaults for battery monitoring
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 11
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 11
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define HAL_BATT_CURR_SCALE 25
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