ardupilot/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat

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2023-08-12 13:04:08 -03:00
# hw definition file for processing by chibios_hwdef.py
# for BETAFPVF405 hardware.
# thanks to betaflight for pin information
# MCU class and specific type
MCU STM32F4xx STM32F405xx
# board ID for firmware load
APJ_BOARD_ID 1125
# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000
FLASH_SIZE_KB 1024
# bootloader takes first sector
FLASH_RESERVE_START_KB 48
define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1
STM32_ST_USE_TIMER 5
# SPI devices
# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# SPI2
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
# SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
# Chip select pins
PB3 BARO1_CS CS
PB12 FLASH1_CS CS
PA15 OSD1_CS CS
PA4 GYRO1_CS CS
# Beeper
PB4 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
# SERIAL ports
SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 UART5 USART6
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# USART1 (GPS)
PA10 USART1_RX USART1
PA9 USART1_TX USART1
# USART3 (ELRS)
PB10 USART3_TX USART3
PB11 USART3_RX USART3
DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN
# UART4 (DJI)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
# UART5 (RX only)
PD2 UART5_RX UART5 NODMA
# USART6 (SBUS, inverted)
PC7 USART6_RX USART6
# I2C ports
I2C_ORDER
# Servos
# ADC ports
# ADC1
PC0 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 10
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 70.8
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_VOLT_SCALE 11.0
define HAL_BATT_MONITOR_DEFAULT 4
# MOTORS
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) # M1
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR # M2
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR # M3
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) # M4
# LEDs
PB5 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90
# LED strip
PB6 TIM4_CH1 TIM4 PWM(5) GPIO(56) # M7
define HAL_GPIO_LED_OFF 1
# Dataflash setup
SPIDEV dataflash SPI2 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ
define HAL_LOGGING_DATAFLASH_ENABLED 1
# OSD setup
SPIDEV osd SPI3 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
# BARO setup
SPIDEV baro SPI3 DEVID2 BARO1_CS MODE3 1*MHZ 8*MHZ
BARO BMP280 SPI:baro
define HAL_BARO_ALLOW_INIT_NO_BARO 1
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_BMP280_ENABLED 1
# IMU setup
SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
IMU Invensensev3 SPI:imu1 ROTATION_YAW_180
DMA_NOSHARE SPI1*
DMA_PRIORITY TIM3* TIM2* SPI1*
# 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
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12
# This is a whoop AIO board, not really suitable for anything other than copter
AUTOBUILD_TARGETS Copter