From 9096d45f32a1838569fca428cf95aae4c306691e Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 22 Feb 2023 15:21:44 +0000 Subject: [PATCH] AP_HAL_ChibiOS: basic support for FlywooF405S AIO --- .../hwdef/FlywooF405S-AIO/hwdef-bl.dat | 43 +++++ .../hwdef/FlywooF405S-AIO/hwdef.dat | 149 ++++++++++++++++++ 2 files changed, 192 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef-bl.dat new file mode 100644 index 0000000000..56dcdc07d8 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef-bl.dat @@ -0,0 +1,43 @@ + +# hw definition file for processing by chibios_hwdef.py +# for FLYWOOF405S_AIO hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1099 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 1024 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 48 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + + +# Chip select pins +PB3 FLASH1_CS CS +PB14 OSD1_CS CS +PB12 GYRO1_CS CS + +PA9 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat new file mode 100644 index 0000000000..0d72ed4b66 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat @@ -0,0 +1,149 @@ + +# hw definition file for processing by chibios_hwdef.py +# for FLYWOOF405S_AIO hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1099 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 1024 + +# bootloader takes first sector +FLASH_RESERVE_START_KB 48 + +define HAL_STORAGE_SIZE 16384 +define STORAGE_FLASH_PAGE 1 + +STM32_ST_USE_TIMER 5 + +# SPI devices + +# SPI1 +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# SPI3 +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 +PC12 SPI3_MOSI SPI3 + +# Chip select pins +PB3 FLASH1_CS CS +PB14 OSD1_CS CS +PB12 GYRO1_CS CS + +# Beeper +PC13 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 +define HAL_BUZZER_ON 1 +define HAL_BUZZER_OFF 0 + +# SERIAL ports +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 +PA10 USART1_RX USART1 +PB6 USART1_TX USART1 + +# USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# USART3 +PB10 USART3_TX USART3 +PB11 USART3_RX USART3 + +# UART4 +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 + +# UART5 +PD2 UART5_RX UART5 NODMA + +# USART6 +PC6 USART6_TX USART6 NODMA +PC7 USART6_RX USART6 NODMA + +# I2C ports +I2C_ORDER I2C1 +# I2C1 +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# Servos + +# ADC ports + +# ADC1 +PC0 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 10 +PC2 BATT_CURRENT_SENS ADC1 SCALE(1) +define HAL_BATT_CURR_PIN 12 +define HAL_BATT_CURR_SCALE 60.2 +PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) +define HAL_BATT_VOLT_PIN 13 +define HAL_BATT_VOLT_SCALE 11.0 +define HAL_BATT_MONITOR_DEFAULT 4 + +# MOTORS +PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) # M1 +PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2 +PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) # M3 +PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) # M4 +PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54) # M5 +PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6 +PC9 TIM8_CH4 TIM8 PWM(7) GPIO(56) # M7 +PC8 TIM8_CH3 TIM8 PWM(8) GPIO(57) # M8 + +# LEDs +PA9 TIM1_CH2 TIM1 PWM(9) GPIO(58) # M9 + +PC14 LED0 OUTPUT LOW GPIO(90) +define HAL_GPIO_A_LED_PIN 90 +define HAL_GPIO_LED_OFF 1 + +# Dataflash setup +SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ + +define HAL_LOGGING_DATAFLASH_ENABLED 1 + +# OSD setup +SPIDEV osd SPI3 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ + +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +# Barometer setup +BARO BMP280 I2C:0:0x76 + +# Barometer setup +BARO DPS310 I2C:0:0x76 + +# IMU setup + +# IMU setup +SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ +IMU Invensense SPI:imu1 ROTATION_YAW_90 +DMA_NOSHARE TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1* +DMA_PRIORITY TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1* + +# 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 +define HAL_DEFAULT_INS_FAST_SAMPLE 3 +# Motor order implies Betaflight/X for standard ESCs +define HAL_FRAME_TYPE_DEFAULT 12