mirror of https://github.com/ArduPilot/ardupilot
150 lines
3.1 KiB
Plaintext
150 lines
3.1 KiB
Plaintext
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# hw definition file for processing by chibios_pins.py
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# Omnibus F4 V6
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# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, no flash log storage
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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 137
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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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# order of I2C buses
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I2C_ORDER I2C1
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# order of UARTs
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UART_ORDER OTG1 USART6 USART1 UART4 USART3
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#PINS
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# UART4 (only RX) #"TX" pin PA0 is used for RSSI_ADC_CHANNEL
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PA1 UART4_RX UART4
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#adc
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PC1 BAT_CURR_SENS ADC1 SCALE(1)
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PC2 BAT_VOLT_SENS ADC1 SCALE(1)
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PA0 RSSI_IN ADC1
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#pwm output # PWM out pins. Channel order (GPIOs) follows the ArduPilot motor
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# order conventions
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PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
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PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
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PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54)
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PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55)
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# spi bus for IMU
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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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PC12 SPI3_MOSI SPI3
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PC11 SPI3_MISO SPI3
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PC10 SPI3_SCK SPI3
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PA4 MPU6000_CS CS #SPI1_NSS
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PA15 OSD_CS CS #SPI3_NSS
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PB3 BMP280_CS CS #SPI3_NSS
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# note that this board needs PULLUP on I2C pins
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PA8 LED OUTPUT HIGH GPIO(41)
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#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PC5 VBUS INPUT OPENDRAIN
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# LED strip output pad used for RC input
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# timer 4 is free (not used for pwm)
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PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW
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#Omnibus F4 V3 and later had hw inverter on UART6
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#Overide it to use as GPS UART port
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#PC8 SBUS_INVERT_RX OUTPUT LOW
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#PC9 SBUS_INVERT_TX OUTPUT LOW
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########### SPI Devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
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SPIDEV bmp280 SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
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SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
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define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
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# V6 needs 90 degree gyro alignment
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define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90
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# Baro
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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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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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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 STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 15360
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# define default battery setup
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define HAL_BATT_VOLT_PIN 12
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11
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define HAL_BATT_CURR_SCALE 18.2
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#analog rssi pin (also could be used as analog airspeed input)
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#PA0 - ADC123_CH0
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define BOARD_RSSI_ANA_PIN 0
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define HAL_GPIO_A_LED_PIN 41
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#To have complementary channels work we define this
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define STM32_PWM_USE_ADVANCED TRUE
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define BOARD_PWM_COUNT_DEFAULT 6
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define OSD_ENABLED ENABLED
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#font for the osd
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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