diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef-bl.dat new file mode 100644 index 0000000000..9f3bb4c8d1 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef-bl.dat @@ -0,0 +1,47 @@ +# hw definition file for processing by chibios_pins.py +# for Furious FPV F35 Lightning type hardware bootloader + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 135 + +# crystal frequency +OSCILLATOR_HZ 8000000 +STM32_PLLM_VALUE 8 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +FLASH_SIZE_KB 1024 + +# the location where the bootloader will put the firmware +define FLASH_BOOTLOADER_LOAD_KB 64 + +define HAL_STORAGE_SIZE 15360 +define STORAGE_FLASH_PAGE 1 + +# board voltage +STM32_VDD 330U + +# order of UARTs +UART_ORDER OTG1 USART1 USART2 UART5 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# UART1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# UART2 +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# UART5 +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 + +PC10 LED_BOOTLOADER OUTPUT LOW GPIO(0) +define HAL_LED_ON 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat new file mode 100644 index 0000000000..6c4fb332e0 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat @@ -0,0 +1,169 @@ +# hw definition file for processing by chibios_hwdef.py +# for Furious FPV F35 Lightning type hardware + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 135 + +# crystal frequency +OSCILLATOR_HZ 8000000 +STM32_PLLM_VALUE 8 + +# board voltage +STM32_VDD 330U + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 1024 +FLASH_RESERVE_START_KB 64 + +# console +#STDOUT_SERIAL SD1 +#STDOUT_BAUDRATE 57600 + +# order of I2C buses +I2C_ORDER I2C1 + +# order of UARTs (UART3RX used for RCInput, UART4RX and USART6RX not pinned out) +UART_ORDER OTG1 USART2 USART1 UART5 EMPTY UART4 USART6 + +# USB sensing +#PA9 VBUS INPUT OPENDRAIN + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# UART1 (telem1) +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# UART2 (GPS) +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# UART3RX (RCInput) +PB11 TIM2_CH4 TIM2 RCININT FLOAT LOW +PA8 SBUS_INVERT_RX OUTPUT + +# UART4 (user), only TX pinned out +PA0 UART4_TX UART4 +PC11 UART4_RX UART4 + +# UART5 (telem2) +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 + +# USART6 (user), only TX pinned out as "SPO" pin with hw inverter +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 + +# ADCs +PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC2 BATT_CURRENT_SENS ADC1 SCALE(1) +PC3 RSSI_IN ADC1 SCALE(2) +define BOARD_RSSI_ANA_PIN 13 +# also could be used as analog airspeed input +#PC3 PRESSURE_SENS ADC1 SCALE(2) + +# VDD sense pin +#PA4 VDD_5V_SENS ADC1 SCALE(2) + +# LED +PC10 LED OUTPUT HIGH GPIO(57) +define HAL_GPIO_A_LED_PIN 57 + +# SPI +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 + +# CS pins +PC0 MPU9250_CS CS +PA4 OSD_CS CS +PC5 BMP280_CS CS +#PB12 SDCARD_CS CS + +PC4 MPU9250_DRDY INPUT + +# These are the pins for SWD debugging with a STlinkv2 or black-magic probe. +#PA13 JTMS-SWDIO SWD +#PA14 JTCK-SWCLK SWD + +# passive buzzer disabled, optional timers 2 and 5 used for RCinput and STM32 +# PA1 TIM2_CH2 TIM2 GPIO(77) ALARM + +# use active buzzer instead +PA1 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 +define HAL_BUZZER_ON 1 +define HAL_BUZZER_OFF 0 + +# I2C +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# PWM pins S1-S6 +define BOARD_PWM_COUNT_DEFAULT 6 +define STM32_PWM_USE_ADVANCED TRUE +PC8 TIM8_CH3 TIM8 PWM(1) GPIO(50) +PC9 TIM8_CH4 TIM8 PWM(2) GPIO(51) +PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52) +PB9 TIM4_CH4 TIM4 PWM(4) GPIO(53) +PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) +PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) + +# SPI device table +SPIDEV mpu9250 SPI3 DEVID1 MPU9250_CS MODE3 4*MHZ 8*MHZ +SPIDEV bmp280 SPI3 DEVID2 BMP280_CS MODE3 1*MHZ 8*MHZ +SPIDEV osd SPI1 DEVID1 OSD_CS MODE0 10*MHZ 10*MHZ +#SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ + +define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI +define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90 + +# mag defines +define ALLOW_ARM_NO_COMPASS +define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 +define HAL_COMPASS_AK8963_MPU9250_ROTATION ROTATION_YAW_90 +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +# baro defines +define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI +define HAL_BARO_BMP280_NAME "bmp280" + +# external baro probing +define HAL_PROBE_EXTERNAL_I2C_BAROS + +# no onboard SD, filesystem support disabled until flash logging implemented +#define HAL_OS_FATFS_IO 1 +#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# OSD support +define OSD_ENABLED ENABLED +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +# available storage +define HAL_STORAGE_SIZE 15360 +define STORAGE_FLASH_PAGE 1 + +# defaults for battery monitoring +define HAL_BATT_VOLT_PIN 11 +define HAL_BATT_CURR_PIN 12 +define HAL_BATT_VOLT_SCALE 11 +define HAL_BATT_CURR_SCALE 18.2