mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
eca8cf3414
move to single OSD font on some boards this saves about 12k on these boards. They were also extremely close to overflowing flash, under 2k on some Now that we support having an OSD font on the microSD card (where available) we can reduce built in fonts without a large functionality impact This also disables some less used features on these boards: - generator support - object avoidance path planning - precision landing This will give us some breathing room on these boards
172 lines
4.1 KiB
Plaintext
172 lines
4.1 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteF7 Mini hardware.
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@ thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 145
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# leave 2 sectors free
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FLASH_RESERVE_START_KB 96
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7
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# buzzer
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PD15 TIM4_CH4 TIM4 GPIO(77) ALARM
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#PD15 BUZZER OUTPUT GPIO(80) LOW
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#define HAL_BUZZER_PIN 80
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#define HAL_BUZZER_ON 1
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#define HAL_BUZZER_OFF 0
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for M25P16 dataflash
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PA4 FLASH_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI2 for MAX7456 OSD
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PB12 MAX7456_CS CS
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI4 for ICM20689
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PE4 ICM20689_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# I2C1 for baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 10.9
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define HAL_BATT_CURR_SCALE 28.5
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PC5 RSSI_ADC ADC1
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PA2 LED0 OUTPUT LOW
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# In order to accommodate bi-directional dshot certain devices cannot be DMA enabled
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# NODMA indicates these devices, if you remove it they will still not be resolved for DMA
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# USART1
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PA10 USART1_RX USART1 NODMA
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PA9 USART1_TX USART1 NODMA
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# USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (GPS)
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PB11 USART3_RX USART3
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PB10 USART3_TX USART3
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# UART4 (GPS2)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# RC input defaults to UART to allow for bi-dir dshot
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define HAL_SERIAL6_BAUD 115
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# UART7, RX only for ESC Telemetry
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# No DMA because SPI2 requires the DMA slot
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA LOW
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# Motors, bi-directional dshot capable
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PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) # M1
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PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) # M2 CH1 and CH2 can share ICU Channel for BIDIR
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR # M4
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) BIDIR # M3
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# These are not DMA enabled so not dshot capable
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# To get dshot (but not bi-dir dshot) remove the NODMA and add NODMA to USART6
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PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) NODMA # M5
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6
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# extra PWM outs
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#PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin
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#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer)
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DMA_PRIORITY ADC* USART6* TIM1* TIM3* SPI4* SPI1*
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DMA_NOSHARE SPI4_RX
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH
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# spi devices
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SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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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 HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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# one BARO
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BARO BMP280 I2C:0:0x76
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
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define BOARD_PWM_COUNT_DEFAULT 6
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define STM32_PWM_USE_ADVANCED TRUE
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# disable SMBUS and fuel battery monitors to save flash
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define HAL_BATTMON_SMBUS_ENABLE 0
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define HAL_BATTMON_FUEL_ENABLE 0
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# disable parachute and sprayer to save flash
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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# reduce max size of embedded params for apj_tool.py
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define AP_PARAM_MAX_EMBEDDED_PARAM 1024
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define HAL_MOUNT_ENABLED 0
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# save some flash
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define GENERATOR_ENABLED 0
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define AC_OAPATHPLANNER_ENABLED 0
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define PRECISION_LANDING 0
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