2023-01-24 23:25:35 -04:00
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# hw definition file for processing by chibios_pins.py
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# hardware repository: https://github.com/ARK-Electronics/ARK_CANNODE
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# MCU class and specific type
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# note: the device is STM32F412CG, not all F412 pins are available
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MCU STM32F4xx STM32F412Rx
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# board ID for firmware load
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APJ_BOARD_ID 83
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env AP_PERIPH 1
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# bootloader starts firmware at 64k
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FLASH_RESERVE_START_KB 64
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# 1Mb flash
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FLASH_SIZE_KB 1024
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# order of I2C buses
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I2C_ORDER I2C1
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs
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SERIAL_ORDER USART1 USART2
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# pin definitions
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# Now we start defining some PWM pins. We also map these pins to GPIO
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# values, so users can set SERVOx_FUNCTION=-1 to determine which
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# PWM outputs on the primary MCU are set up as GPIOs.
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# To match HAL_PX4 we number the GPIOs for the PWM outputs
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# starting at 50.
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
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PB10 TIM2_CH3 TIM2 PWM(3) GPIO(52)
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PB4 TIM3_CH1 TIM3 PWM(4) GPIO(53) BIDIR
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PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54)
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PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55)
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PB1 TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR
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PB7 TIM4_CH2 TIM4 PWM(8) GPIO(58) NODMA # DMA would be shared with I2C
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# USART1 GPS
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PA15 USART1_TX USART1
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PB3 USART1_RX USART1
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# USART2 in debug connector
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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# SPI bus for IMU
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PB2 MPU_DRDY INPUT
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PA4 IMU1_CS CS
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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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# LEDs
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PA8 LED_R1 OUTPUT HIGH GPIO(0)
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PA9 LED_G1 OUTPUT HIGH GPIO(1)
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PA10 LED_B1 OUTPUT HIGH GPIO(2)
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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2023-01-24 23:25:35 -04:00
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# use pixracer style 3-LED indicators
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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2023-01-24 23:25:35 -04:00
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# CAN bus
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PC14 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PC15 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
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# pins for SWD debugging with a STlink or black-magic probe.
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 FSYNC for ICM42688p
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# PB8 TIM10_CH1 TIM10
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# store parameters in pages 2 and 3
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STORAGE_FLASH_PAGE 2
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define HAL_STORAGE_SIZE 8192
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# no ADC pins
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define HAL_USE_ADC FALSE
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# External SPI2
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PB12 EXT_CS1 SPI2
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PC13 EXT_CS2 SPI2
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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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# I2C port
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PB6 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# SPI device table - can't yet use IMU in AP_Periph
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#SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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#IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define HAL_PERIPH_ENABLE_BARO
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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define CAN_APP_NODE_NAME "org.ardupilot.ARK_CANNODE"
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# enable ESC control
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2024-03-31 21:00:58 -03:00
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define HAL_SERIAL_ESC_COMM_ENABLED 1
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2023-01-24 23:25:35 -04:00
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define HAL_SUPPORT_RCOUT_SERIAL 1
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define HAL_WITH_ESC_TELEM 1
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2023-11-17 15:55:37 -04:00
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define AP_SERIALLED_ENABLED 1
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2023-12-20 14:49:26 -04:00
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# Rangefinder
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define HAL_PERIPH_ENABLE_RANGEFINDER
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# disable rangefinder by default
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define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
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2024-04-01 03:38:32 -03:00
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define HAL_RCIN_THREAD_ENABLED 1
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2024-04-01 19:47:40 -03:00
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define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
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2024-04-03 06:01:28 -03:00
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define HAL_MONITOR_THREAD_ENABLED 1
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