mirror of https://github.com/ArduPilot/ardupilot
124 lines
2.5 KiB
Plaintext
124 lines
2.5 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for crazyflie2.0 hardware (see bitcraze.io)
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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 12
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_CRAZYFLIE2
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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define STM32_ST_USE_TIMER 5
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FLASH_SIZE_KB 1024
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# board voltage
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STM32_VDD 330U
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# use USB for stdout
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#STDOUT_SERIAL SD3
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#STDOUT_BAUDRATE 57600
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# usart2
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PA2 USART2_TX USART2 # E_TX2
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PA3 USART2_RX USART2 # E_RX2
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# external SPI on SPI1
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PA5 SPI1_SCK SPI1 # E_SCK
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PA6 SPI1_MISO SPI1 # E_MISO
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PA7 SPI1_MOSI SPI1 # E_MOSI
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# I2C3 is for IMU
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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# USB port
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PA10 USB_ID INPUT
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# stlink/jtag
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PA1 TIM2_CH2 TIM2 PWM(1) # front-right
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PB11 TIM2_CH4 TIM2 PWM(4) # rear-right
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PA15 TIM2_CH1 TIM2 PWM(2) # rear-left
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PB9 TIM4_CH4 TIM4 PWM(3) # front-left
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PC13 MPU_INT INPUT
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PC14 MPU_FSYNC OUTPUT LOW
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# LEDs
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PD2 LED_BLUE OUTPUT HIGH
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PC0 LED_RED_L OUTPUT HIGH
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PC1 LED_GREEN_L OUTPUT HIGH
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PC2 LED_GREEN_R OUTPUT HIGH
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PC3 LED_RED_R OUTPUT HIGH
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# misc pins, unused
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#PH0 OSC_IN
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#PH1 OSC_OUT
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#PB2 BOOT1
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# PB3 STM_SWO
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# CS pins for external SPI devices
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PC12 E_CS0 CS
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PB4 E_CS1 CS
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PB5 E_CS2 CS
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PB8 E_CS3 CS
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# external I2C on I2C1
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PB6 I2C1_SCL I2C1 # E_SCL
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PB7 I2C1_SDA I2C1 # E_SCL
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# radio setup
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PA4 NRF_FLOW_CTRL INPUT # goes low when we can write to uart
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#PB13 NRF_SWCLK
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#PB15 NRF_SWIO
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PC6 USART6_TX USART6 # NRF_RT
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PC7 USART6_RX USART6 # NRF_RX
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# USART3 for telemetry
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PC10 USART3_TX USART3 # E_TX1
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PC11 USART3_RX USART3 # E_RX1
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# setup I2C order
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I2C_ORDER I2C3 I2C1
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# we need I2C clock at 400kHz for IMU
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define HAL_I2C_MAX_CLOCK 400000
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# order of UARTs (and USB)
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UART_ORDER OTG1 USART2 USART3 USART6
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define HAL_STORAGE_SIZE 15360
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define STORAGE_FLASH_PAGE 1
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# reserve 32k for bootloader and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
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define HAL_INS_MPU60x0_I2C_BUS 0
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define HAL_INS_MPU60x0_I2C_ADDR 0x69
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define HAL_BARO_DEFAULT HAL_BARO_LPS25H_IMU_I2C
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define HAL_BARO_LPS25H_I2C_BUS 0
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define HAL_BARO_LPS25H_I2C_ADDR 0x5D
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define HAL_BARO_LPS25H_I2C_IMU_ADDR HAL_INS_MPU60x0_I2C_ADDR
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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_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define MAG_BOARD_ORIENTATION ROTATION_YAW_180
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