diff --git a/Tools/bootloaders/DroneerF405_bl.bin b/Tools/bootloaders/DroneerF405_bl.bin new file mode 100644 index 0000000000..cd3b70c660 Binary files /dev/null and b/Tools/bootloaders/DroneerF405_bl.bin differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Bottom.jpg b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Bottom.jpg new file mode 100644 index 0000000000..6b4f0cb449 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Bottom.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Pinout.jpg new file mode 100644 index 0000000000..64019b1052 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Pinout.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Top.jpg b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Top.jpg new file mode 100644 index 0000000000..8cab02ca3a Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/DroneerF405_Board_Top.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/hwdef-bl.dat new file mode 100644 index 0000000000..d4021133b3 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/hwdef-bl.dat @@ -0,0 +1,39 @@ +# hw definition file for Droneer +# tested on the Droneer F405 + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# board ID for firmware load +APJ_BOARD_ID 1054 + +FLASH_RESERVE_START_KB 0 +FLASH_SIZE_KB 1024 +FLASH_BOOTLOADER_LOAD_KB 64 + +#PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0) # blue +PC13 LED_ACTIVITY OUTPUT LOW GPIO(1) # Green +define HAL_LED_ON 0 + +# order of UARTs +SERIAL_ORDER OTG1 USART1 + +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + + +# Add CS pins to ensure they are high in bootloader +PA4 IMU_CS CS +PA13 OSD_CS CS +PC0 FLASH_CS CS +#PC1 SDCARD_CS CS + +# Turn on switched supply and camera switch/output during bootloader to match default +#PA4 PINIO1 OUTPUT LOW +#PB5 PINIO2 OUTPUT LOW diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/hwdef.dat new file mode 100644 index 0000000000..4063f183a1 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/hwdef.dat @@ -0,0 +1,182 @@ +# hw definition file for processing by chibios_pins.py +# Droneer F405 +# With F405 MCU, ICM42688P IMU and 7456 series OSD +# Based on DroneerF450 from thomas + +# MCU class and specific type. +MCU STM32F4xx STM32F405xx + +HAL_CHIBIOS_ARCH_F405 1 + +# board ID for firmware load +APJ_BOARD_ID 1054 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# board voltage +STM32_VDD 330U + +STM32_ST_USE_TIMER 5 +define CH_CFG_ST_RESOLUTION 16 + +# order of I2C buses +I2C_ORDER I2C1 + +# order of UARTs (and USB) +# this order follows the labels on the board +# namely COMPUTER, PPM/SBUS (configurable as USART), TX3/RX3, TX6/RX6 +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 + +# The pins that USB is connected on +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +PC5 VBUS INPUT OPENDRAIN + +# USART1(VTX) +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_Tramp + +# USART2, RC input +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 NODMA +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MAVLink2 + +# default to timer for RC input +#PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW + +# USART3 +PC10 USART3_TX USART3 NODMA +PC11 USART3_RX USART3 NODMA +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_ESCTelemetry + +# UART4 +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA + +# UART5 +PC12 UART5_TX UART5 NODMA +PD2 UART5_RX UART5 NODMA + +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None + +# The pins for SWD debugging with a STlinkv2 or black-magic probe (not tested) +#PA13 JTMS-SWDIO SWD +#PA14 JTCK-SWCLK SWD + + + +# PWM output. 1 - 8 on ESC header +# --------------------- PWM ----------------------- +PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50) +PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51) +PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52) +PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53) +PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) +PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55) +PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) +PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57) + +PB1 TIM3_CH4 TIM3 PWM(9) GPIO(58) + +# Board LEDs +PC13 LED_GREEN OUTPUT LOW GPIO(80) +define HAL_GPIO_A_LED_PIN 80 + +# External LEDs +#PB1 LED_STRIP OUTPUT GPIO(81) LOW +#define HAL_LED_STRIP_PIN 81 + +# Buzzer +#PB8 BUZZER OUTPUT GPIO(82) LOW +#define HAL_BUZZER_PIN 82 + +# Camera control +PA14 CAM_C OUTPUT HIGH GPIO(83) +define RELAY2_PIN_DEFAULT 83 + +# Note that this board needs PULLUP on I2C pins +PB6 I2C1_SCL I2C1 PULLUP +PB7 I2C1_SDA I2C1 PULLUP + +# SPI1 - Internal IMU +PA4 MPU6000_CS CS +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# SPI2 - OSD +PB15 SPI2_MOSI SPI2 +PB14 SPI2_MISO SPI2 +PB13 SPI2_SCK SPI2 +# OSD max7456 +PA13 OSD_CS CS + +# SPI3 - dataflash +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 +# Dataflash M25P16 +PC0 FLASH_CS CS + +# SPI Device table +SPIDEV icm42688 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ +SPIDEV osd SPI2 DEVID1 OSD_CS MODE0 10*MHZ 10*MHZ +SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ + +# One IMU rotated in yaw +IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270 + +# Probe for I2C SPL06 +BARO SPL06 I2C:0:0x76 +define AP_BARO_BACKEND_DEFAULT_ENABLED 0 +define AP_BARO_SPL06_ENABLED 1 +define HAL_BARO_ALLOW_INIT_NO_BARO 1 + +# 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 + +# enable logging to dataflash +define HAL_LOGGING_DATAFLASH_ENABLED 1 +define HAL_STORAGE_SIZE 15360 +STORAGE_FLASH_PAGE 1 + +# flash size +FLASH_SIZE_KB 1024 +# reserve 32k for bootloader and 32k for flash storage +FLASH_RESERVE_START_KB 64 + +# ADC +PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +PC3 RSSI_ADC ADC1 SCALE(1) + + +# define default battery setup +define HAL_BATT_VOLT_PIN 12 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_VOLT_SCALE 11 +define HAL_BATT_CURR_SCALE 30.2 +define HAL_BATT_MONITOR_DEFAULT 4 + +# Analog RSSI pin (also could be used as analog airspeed input) +define BOARD_RSSI_ANA_PIN 12 + +# Setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +# Font for the osd +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +DMA_PRIORITY TIM2* TIM3* + +# minimal drivers to reduce flash usage +include ../include/minimize_fpv_osd.inc +#undef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED +#define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0