mirror of https://github.com/ArduPilot/ardupilot
158 lines
3.8 KiB
Plaintext
158 lines
3.8 KiB
Plaintext
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# hw definition file for SpeedyBee F4 v3 hardware
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# tested on the Speedybee F4 v3 board
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# with thanks to betaflight for pinout
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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 1082
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define STM32_ST_USE_TIMER 5
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FLASH_SIZE_KB 1024
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# only one I2C bus
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I2C_ORDER I2C2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
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# LEDs
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PC8 LED_BLUE OUTPUT LOW GPIO(0)
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define HAL_GPIO_A_LED_PIN 0
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# buzzer
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PC5 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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# spi1 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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PA4 BMI270_CS CS
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# spi2 for OSD and sdcard
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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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PB12 MAX7456_CS CS
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PA15 SDCARD_CS CS
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# only one I2C bus in normal config
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# analog pins
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC2 RSSI_ADC_PIN ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11.2 # matched to ESC output
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define HAL_BATT_CURR_SCALE 52.7 # appropriate for a T-Motor F55A Pro II
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# analog rssi pin
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define BOARD_RSSI_ANA_PIN 12
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# USART1 (DJI / VTX)
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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define HAL_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV
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# USART2 (RCIN)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
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# USART3 (CAM)
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PC10 USART3_TX USART3 NODMA
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PC11 USART3_RX USART3 NODMA
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define HAL_SERIAL3_PROTOCOL SerialProtocol_None
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# UART4 (Bluetooth)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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define HAL_SERIAL4_PROTOCOL SerialProtocol_None
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# UART5 (ESC Telemetry)
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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define HAL_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
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define HAL_SERIAL5_BAUD 19200
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# UART6 (GPS)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define HAL_SERIAL6_PROTOCOL SerialProtocol_GPS
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define HAL_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# PWM out pins. Note that channel order follows the ArduPilot motor
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# order conventions
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PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50) BIDIR
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PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51)
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PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52) BIDIR # DMA channel shared with I2C2_TX, beware - no alternatives
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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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PB5 TIM3_CH2 TIM3 PWM(7) GPIO(56)
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PB4 TIM3_CH1 TIM3 PWM(8) GPIO(57)
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PC9 TIM8_CH4 TIM8 PWM(9) GPIO(58) # LED
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# OSD pad for TTL based OSD control, not supported by AP
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PB3 CAM_C OUTPUT LOW GPIO(83) # labelled as "CC"
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 1
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# reserve 16k for bootloader and 32k for flash storage
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FLASH_RESERVE_START_KB 48
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# one IMU
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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# built-in barometer
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BARO SPL06 I2C:0:0x76
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_SPL06_ENABLED 1
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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_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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# SPI devices
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SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 1*MHZ 8*MHZ
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SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
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SPIDEV sdcard SPI2 DEVID2 SDCARD_CS MODE0 400*KHZ 25*MHZ
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# filesystem setup on sdcard
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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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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# minimal drivers to reduce flash usage
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include ../include/minimal.inc
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