diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef-bl.dat new file mode 100644 index 0000000000..842ef07518 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef-bl.dat @@ -0,0 +1,41 @@ +# hw definition file for processing by chibios_pins.py +# for minimal F405 bootloader + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1361 + +# 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 + + + + +# Chip select pins +PC14 SDCARD1_CS CS +PB12 OSD1_CS CS +PA4 GYRO1_CS CS + +PC13 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat new file mode 100644 index 0000000000..e5f206eeab --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat @@ -0,0 +1,171 @@ + +# hw definition file for processing by chibios_hwdef.py +# for FlysparkF4 hardware. + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1361 + +# 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 + +# SPI2 +PB13 SPI2_SCK SPI2 +PC2 SPI2_MISO SPI2 +PC3 SPI2_MOSI SPI2 + +# SPI3 +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 + +# Chip select pins +PC14 SDCARD1_CS CS +PB12 OSD1_CS CS +PA4 GYRO1_CS CS + +# Beeper +PC15 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 + +# Spare GPIO +PB11 PINIO OUTPUT HIGH GPIO(81) +PC4 ICM42688_INT INPUT PULLDOWN GPIO(82) + +# 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 (DJI / VTX) +PA10 USART1_RX USART1 NODMA +PA9 USART1_TX USART1 NODMA +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV + +# USART2 (RCIN) +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# USART3 (CAM) +PC10 USART3_TX USART3 NODMA +PC11 USART3_RX USART3 NODMA +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None + +# UART4 (Bluetooth) +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None + +# UART5 (ESC Telemetry) +PD2 UART5_RX UART5 NODMA +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry +define DEFAULT_SERIAL5_BAUD 19200 + +# USART6 (GPS) +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS +define DEFAULT_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD + +# I2C ports +I2C_ORDER I2C1 +# I2C1 +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# Servos +PB14 CAMERA1 OUTPUT GPIO(70) LOW +define RELAY2_PIN_DEFAULT 70 + +# RC input using timer +PB15 TIM12_CH2 TIM12 RCININT PULLDOWN LOW + +# ADC ports + +# ADC1 +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_VOLT_SCALE 11.0 +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_CURR_SCALE 25.0 +PC5 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 15 +define HAL_BATT_MONITOR_DEFAULT 4 + +# MOTORS +PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50) # M1 +PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2 +PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) # M3 +PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4 +PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # M5 +PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) # M6 +PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) # M7 +PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) # M8 + +# LEDs +PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9 + +define AP_NOTIFY_GPIO_LED_1_ENABLED 1 +PC13 LED0 OUTPUT LOW GPIO(90) +define AP_NOTIFY_GPIO_LED_1_PIN 90 + +# OSD setup +SPIDEV osd SPI2 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 +define AP_BARO_BACKEND_DEFAULT_ENABLED 0 +define AP_BARO_DPS280_ENABLED 1 +BARO DPS310 I2C:0:0x76 + +# IMU setup +SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ +# SDCard +SPIDEV sdcard SPI3 DEVID1 SDCARD1_CS MODE0 400*KHZ 25*MHZ + +IMU Invensensev3 SPI:imu1 ROTATION_NONE +DMA_NOSHARE TIM3_UP TIM8_UP TIM2_UP SPI1* +DMA_PRIORITY TIM3_UP TIM8_UP TIM2_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 + +# filesystem setup on sdcard +define HAL_OS_FATFS_IO 1 + +# minimal drivers to reduce flash usage +include ../include/minimize_fpv_osd.inc + +define DEFAULT_NTF_LED_TYPES 257