2024-03-29 13:42:32 -03:00
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32F4xx STM32F407xx
|
|
|
|
|
|
|
|
|
|
FLASH_RESERVE_START_KB 64
|
|
|
|
|
FLASH_SIZE_KB 512
|
|
|
|
|
|
|
|
|
|
define HAL_STORAGE_SIZE 15360
|
|
|
|
|
STORAGE_FLASH_PAGE 2
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 6001
|
|
|
|
|
|
|
|
|
|
env AP_PERIPH 1
|
|
|
|
|
|
|
|
|
|
define STM32_ST_USE_TIMER 5
|
|
|
|
|
|
|
|
|
|
define CAN_APP_NODE_NAME "sw-boom-f407"
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
|
|
|
|
# activity led
|
|
|
|
|
PC8 LED OUTPUT LOW
|
|
|
|
|
define HAL_LED_ON 1
|
|
|
|
|
|
|
|
|
|
# JTAG
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
PD0 CAN1_RX CAN1
|
|
|
|
|
PD1 CAN1_TX CAN1
|
|
|
|
|
PD2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
|
|
|
|
|
|
PB5 CAN2_RX CAN2
|
|
|
|
|
PB6 CAN2_TX CAN2
|
|
|
|
|
PB7 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
|
|
|
|
|
|
# we want to be able to mirror CAN onto both buses
|
|
|
|
|
define HAL_PERIPH_CAN_MIRROR 1
|
|
|
|
|
|
|
|
|
|
# UARTs
|
|
|
|
|
# | nav light | esc front | esc rear | transponder |
|
|
|
|
|
SERIAL_ORDER USART6 USART2 USART3 UART4
|
|
|
|
|
|
|
|
|
|
# USART6 nav light
|
|
|
|
|
PC6 USART6_TX USART6 SPEED_HIGH DMA
|
|
|
|
|
|
|
|
|
|
# USART2 front esc
|
|
|
|
|
PD6 USART2_RX USART2 SPEED_HIGH DMA
|
|
|
|
|
|
|
|
|
|
# USART3 rear esc
|
|
|
|
|
PD9 USART3_RX USART3 SPEED_HIGH DMA
|
|
|
|
|
|
|
|
|
|
# USART4 transponder
|
|
|
|
|
PA0 UART4_TX UART4 SPEED_HIGH DMA
|
|
|
|
|
PA1 UART4_RX UART4 SPEED_HIGH DMA
|
|
|
|
|
|
|
|
|
|
# APD telem
|
|
|
|
|
define HAL_PERIPH_ENABLE_ESC_APD 1
|
|
|
|
|
define APD_ESC_INSTANCES 2
|
|
|
|
|
define APD_ESC_SERIAL_0 1
|
|
|
|
|
define APD_ESC_SERIAL_1 2
|
|
|
|
|
|
|
|
|
|
# pwm
|
|
|
|
|
define HAL_PERIPH_ENABLE_RC_OUT
|
|
|
|
|
PE9 TIM1_CH1 TIM1 PWM(1) GPIO(51) # esc front
|
|
|
|
|
PE11 TIM1_CH2 TIM1 PWM(2) GPIO(52) # esc rear
|
|
|
|
|
PB11 TIM2_CH4 TIM2 PWM(4) GPIO(54) # aux 3
|
|
|
|
|
|
|
|
|
|
# gpio
|
|
|
|
|
PA5 SAGETECH_MAINT OUTPUT GPIO(0) LOW
|
|
|
|
|
PB3 POWER_GOOD2 INPUT GPIO(1) # 7.4v secondary
|
|
|
|
|
PD7 POWER_GOOD1 INPUT GPIO(2) # 28v primary
|
|
|
|
|
PD15 CHARGER_EN OUTPUT GPIO(3) low # charger
|
|
|
|
|
PE4 ID_PIN INPUT GPIO(4) # high on left, low on right
|
|
|
|
|
PB10 HEAT_PIN OUTPUT GPIO(5) LOW # heater control, low is heater off, high is heater on
|
|
|
|
|
PB12 AUX3 OUTPUT GPIO(6) # aux 3
|
|
|
|
|
|
|
|
|
|
define HAL_PERIPH_ENABLE_RELAY 1
|
|
|
|
|
define AP_RELAY_ENABLED 1
|
|
|
|
|
define RELAY1_PIN_DEFAULT 3
|
|
|
|
|
define RELAY2_PIN_DEFAULT 5
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# battery
|
|
|
|
|
define HAL_PERIPH_ENABLE_BATTERY
|
|
|
|
|
define HAL_PERIPH_BATTERY_SKIP_NAME
|
|
|
|
|
define HAL_USE_ADC TRUE
|
|
|
|
|
define STM32_ADC_USE_ADC1 TRUE
|
|
|
|
|
define AP_BATT_MONITOR_MAX_INSTANCES 4
|
|
|
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
|
|
|
|
|
|
|
|
# vtol voltage
|
|
|
|
|
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) # pin 2
|
|
|
|
|
# vtol current
|
|
|
|
|
PA3 BATT_CURRENT_SENS ADC1 SCALE(1) # pin 3
|
|
|
|
|
# servo voltage
|
|
|
|
|
PA4 SERVO_VOLTAGE_SENS ADC1 SCALE(1) # pin 4
|
|
|
|
|
# 5V voltage
|
|
|
|
|
PA6 SUPPLY_VOLTAGE_SENS ADC1 SCALE(1) # pin 6
|
|
|
|
|
# 28V voltage
|
|
|
|
|
PB1 BATT_28V_SENS ADC1 SCALE(1) # pin 9
|
|
|
|
|
# 5v backup voltage
|
|
|
|
|
PC0 BATT_5V_SEC_SENS ADC1 SCALE(1) # pin 10
|
|
|
|
|
# 5v primary
|
|
|
|
|
PC2 BATT_5V_PRIM_SENS ADC1 SCALE(1) # pin 12
|
|
|
|
|
# battery temperature
|
|
|
|
|
PC4 BATT_TEMP_SENS ADC1 SCALE(1) # pin 14
|
|
|
|
|
|
|
|
|
|
# temperature
|
|
|
|
|
define AP_TEMPERATURE_SENSOR_ENABLED 1
|
|
|
|
|
define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 1
|
|
|
|
|
|
|
|
|
|
# Scripting
|
|
|
|
|
define AP_SCRIPTING_ENABLED 1
|
|
|
|
|
define AP_FILESYSTEM_ROMFS_ENABLED 1
|
|
|
|
|
|
2024-04-03 06:01:28 -03:00
|
|
|
define HAL_MONITOR_THREAD_ENABLED 1
|
|
|
|
|
|
2024-03-29 13:42:32 -03:00
|
|
|
# don't build on firmware.ardupilot.org
|
|
|
|
|
AUTOBUILD_TARGETS None
|
