mirror of https://github.com/ArduPilot/ardupilot
147 lines
2.9 KiB
Plaintext
147 lines
2.9 KiB
Plaintext
# hw definition file for KakuteF4 hardware
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# STATUS:
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# This port is mostly complete. Main missing feature are OSD,
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# dataflash and RCIN
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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RAM_SIZE_KB 128
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CCM_RAM_SIZE_KB 64
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_KAKUTEF4
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# board ID for firmware load
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APJ_BOARD_ID 70
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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 4
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define CH_CFG_ST_RESOLUTION 16
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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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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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UART_ORDER OTG1 USART1 UART4 UART5
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# LEDs
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PB5 LED_BLUE OUTPUT LOW GPIO(0)
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# buzzer
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PC9 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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# spi1 bus for IMU
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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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# spi3 for dataflash and OSD
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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PB14 MAX7456_CS CS
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# dataflash M25P16
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PB3 M25P16_CS CS
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PC4 ICM20689_CS CS
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PC5 ICM20689_DRDY INPUT
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# only one I2C bus in normal config
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# rcinput is PB11
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PB11 TIM2_CH4 TIM2 RCININT FLOAT LOW
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# analog pins
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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 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# main port, for telem1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART3 for rcinput
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#PB10 USART3_TX USART3
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#PB11 USART3_RX USART3
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PB15 SBUS_INVERT OUTPUT LOW
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# USART6
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#PC6 USART6_TX USART6
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#PC7 USART6_RX USART6
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# UART4 (GPS)
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PA1 UART4_RX UART4
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PA0 UART4_TX UART4
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# UART5 (ESC sensor)
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PD2 UART5_RX UART5
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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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# USB detection
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PA8 VBUS INPUT OPENDRAIN
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# debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM out pins. Note that channel order follows the ArduPilot motor
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# order conventions
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PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50)
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PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51)
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53)
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# PC8 TIM8_CH3 TIM2 GPIO(54) # LED strip
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define HAL_STORAGE_SIZE 8192
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define STORAGE_FLASH_PAGE 1
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# reserve 16k for bootloader, 16k for OSD 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_SPI
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define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
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# there is no compass fitted by default
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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define HAL_COMPASS_HMC5843_I2C_BUS 0
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define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_90
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define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
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define HAL_BARO_BMP280_BUS 0
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define HAL_BARO_BMP280_I2C_ADDR 0x76
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# SPI devices
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SPIDEV mpu6000 SPI1 DEVID1 ICM20689_CS MODE3 1*MHZ 8*MHZ
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SPIDEV dataflash SPI3 DEVID1 M25P16_CS MODE3 1*MHZ 8*MHZ
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# 8 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 8
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