mirror of https://github.com/ArduPilot/ardupilot
160 lines
3.6 KiB
Plaintext
160 lines
3.6 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# Mamba F405 MK2
|
|
# With F405 MCU, MPU6000 IMU and 7456 series OSD
|
|
# Based on Mamba F405 from jeanphilippehell
|
|
@ thanks to betaflight for pin information
|
|
|
|
# MCU class and specific type.
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
HAL_CHIBIOS_ARCH_F405 1
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1019
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
# board voltage
|
|
STM32_VDD 330U
|
|
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C1
|
|
|
|
# order of UARTs (and USB)
|
|
# this order follows the labels on the board
|
|
# namely COMPUTER, PPM/SBUS (configurable as USART), TX3/RX3, TX6/RX6
|
|
SERIAL_ORDER OTG1 USART1 EMPTY USART3 EMPTY EMPTY USART6
|
|
|
|
# The pins that USB is connected on
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
PC5 VBUS INPUT OPENDRAIN
|
|
|
|
# USART1 is wired to SBUS and PPM input
|
|
# RC input defaults to timer capture
|
|
PA10 TIM1_CH3 TIM1 RCININT PULLDOWN
|
|
PA9 USART1_TX USART1 NODMA
|
|
|
|
# Alt config to allow RCIN on UART
|
|
PA10 USART1_RX USART1 NODMA ALT(1)
|
|
|
|
# SBUS inversion control pin, active low
|
|
PC0 USART1_RXINV OUTPUT HIGH GPIO(78) POL(0)
|
|
|
|
# USART3
|
|
PB10 USART3_TX USART3
|
|
PB11 USART3_RX USART3
|
|
|
|
# USART6
|
|
PC6 USART6_TX USART6
|
|
PC7 USART6_RX USART6
|
|
|
|
# The pins for SWD debugging with a STlinkv2 or black-magic probe (not tested)
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# ADC
|
|
PC1 BAT_VOLT_SENS ADC1 SCALE(1)
|
|
PC2 RSSI_IN ADC1
|
|
PC3 BAT_CURR_SENS ADC1 SCALE(1)
|
|
|
|
# PWM output. 1 - 4 on ESC header
|
|
PA3 TIM2_CH4 TIM2 PWM(1) GPIO(50)
|
|
PB0 TIM3_CH3 TIM3 PWM(2) GPIO(51)
|
|
PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52)
|
|
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
|
|
|
|
# Board LEDs
|
|
PB5 LED_BLUE OUTPUT LOW GPIO(1)
|
|
PB4 LED_GREEN OUTPUT LOW GPIO(2)
|
|
define HAL_GPIO_A_LED_PIN 1
|
|
define HAL_GPIO_B_LED_PIN 2
|
|
|
|
# External LEDs
|
|
PA0 LED_EXT1 OUTPUT GPIO(30)
|
|
|
|
# Buzzer
|
|
PA8 BUZZER OUTPUT GPIO(80) LOW
|
|
define HAL_BUZZER_PIN 80
|
|
define HAL_BUZZER_ON 1
|
|
define HAL_BUZZER_OFF 0
|
|
|
|
# Note that this board needs PULLUP on I2C pins
|
|
PB6 I2C1_SCL I2C1 PULLUP
|
|
PB7 I2C1_SDA I2C1 PULLUP
|
|
|
|
# SPI1 - Internal IMU
|
|
PA4 MPU6000_CS CS
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
# SPI2 - OSD
|
|
PB15 SPI2_MOSI SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB13 SPI2_SCK SPI2
|
|
# OSD max7456
|
|
PB12 OSD_CS CS
|
|
|
|
# SPI3 - dataflash
|
|
PC10 SPI3_SCK SPI3
|
|
PC11 SPI3_MISO SPI3
|
|
PC12 SPI3_MOSI SPI3
|
|
# Dataflash M25P16
|
|
PB3 FLASH_CS CS
|
|
|
|
# SPI Device table
|
|
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
|
|
SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
|
|
SPIDEV osd SPI2 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
# One IMU rotated in yaw
|
|
IMU Invensense SPI:mpu6000 ROTATION_YAW_90
|
|
|
|
# Probe for I2C BMP280, but allow init on board variants without onboard baro too
|
|
BARO BMP280 I2C:0:0x76
|
|
define HAL_PROBE_EXTERNAL_I2C_BAROS
|
|
define HAL_BARO_ALLOW_INIT_NO_BARO
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
# external compass types
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
# enable logging to dataflash
|
|
define HAL_LOGGING_DATAFLASH
|
|
define HAL_STORAGE_SIZE 16384
|
|
define STORAGE_FLASH_PAGE 1
|
|
|
|
# flash size
|
|
FLASH_SIZE_KB 1024
|
|
# reserve 32k for bootloader and 32k for flash storage
|
|
FLASH_RESERVE_START_KB 64
|
|
|
|
# define default battery setup
|
|
define HAL_BATT_VOLT_PIN 11
|
|
define HAL_BATT_CURR_PIN 13
|
|
define HAL_BATT_VOLT_SCALE 12
|
|
define HAL_BATT_CURR_SCALE 39
|
|
|
|
# Analog RSSI pin (also could be used as analog airspeed input)
|
|
define BOARD_RSSI_ANA_PIN 1
|
|
|
|
# Setup for OSD
|
|
define OSD_ENABLED 1
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
# Font for the osd
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
# To complementary channels work we define this
|
|
#define STM32_PWM_USE_ADVANCED TRUE
|
|
|
|
define BOARD_PWM_COUNT_DEFAULT 4
|
|
|