mirror of https://github.com/ArduPilot/ardupilot
168 lines
4.1 KiB
Plaintext
168 lines
4.1 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Omnibus F4 PRO with on-board current sensor
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# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd and sdcard
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MCU STM32F4xx STM32F405xx
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HAL_CHIBIOS_ARCH_F405 1
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# board ID for firmware load
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APJ_BOARD_ID 131
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_ST_USE_TIMER 5
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# flash size
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FLASH_SIZE_KB 1024
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FLASH_RESERVE_START_KB 64
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# order of I2C buses
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I2C_ORDER I2C2
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# order of UARTs
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SERIAL_ORDER OTG1 USART1 USART3 USART6 UART4
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#adc
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PC1 BAT_CURR_SENS ADC1 SCALE(1)
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PC2 BAT_VOLT_SENS ADC1 SCALE(1)
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#analog rssi pin (also could be used as analog airspeed input)
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PA0 RSSI_IN ADC1
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define BOARD_RSSI_ANA_PIN 0
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#pwm output. 1 - 4 on main header, 5 & 6 on separated header w/o 5V supply, 7 & 8 on CH5 and CH6 pads
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PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
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PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
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PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
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PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
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PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(59)
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PA4 MPU6000_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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# note that this board needs PULLUP on I2C pins
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PB10 I2C2_SCL I2C2 PULLUP
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PB11 I2C2_SDA I2C2 PULLUP
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# use I2C pins as USART3 (SERIAL2) in BRD_ALT_CONFIG=1 & 4
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PB10 USART3_TX USART3 ALT(1)
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PB11 USART3_RX USART3 ALT(1)
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PB10 USART3_TX USART3 ALT(4)
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PB11 USART3_RX USART3 ALT(4)
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PB15 SPI2_MOSI SPI2
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PB14 SPI2_MISO SPI2
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PB13 SPI2_SCK SPI2
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PB12 SDCARD_CS CS
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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# UART4 TX available as an alternative config on PA0 (RSSI pad) with BRD_ALT_CONFIG=2
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PA0 UART4_TX UART4 ALT(2)
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# full UART4 also available as alt config on PA0 (RSSI pad) and PA1 (PWM output chan 5) with BRD_ALT_CONFIG=3 & 4
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PA0 UART4_TX UART4 ALT(3)
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PA1 UART4_RX UART4 ALT(3)
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PA0 UART4_TX UART4 ALT(4)
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PA1 UART4_RX UART4 ALT(4)
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PA15 OSD_CS CS
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PB3 BMP280_CS CS
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PC12 SPI3_MOSI SPI3
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PC11 SPI3_MISO SPI3
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PC10 SPI3_SCK SPI3
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PB5 LED_BLUE OUTPUT LOW GPIO(1)
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define HAL_GPIO_A_LED_PIN 1
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#dummy assignment required to allow AP_NOTIFY to use board led
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define HAL_GPIO_B_LED_PIN 2
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PB4 TIM3_CH1 TIM3 GPIO(58) ALARM LOW
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#use LED-STRIP output as general purpose GPIO
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PB6 GP_GPIO OUTPUT LOW GPIO(70)
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PC5 VBUS INPUT OPENDRAIN
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# "PPM" solder pad/resistor should be soldered and "S-BUS" resistor/solder pad removed
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# Overwise UART1 or UART6 or RCIN will not work
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PB8 TIM4_CH3 TIM4 RCININT PULLDOWN LOW
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# SPI Device table
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID2 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV bmp280 SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
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SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
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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 SPI:bmp280
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_BMP280_ENABLED 1
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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_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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STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 15360
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# define default battery setup
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define HAL_BATT_VOLT_PIN 12
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11
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define HAL_BATT_CURR_SCALE 18.2
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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#To complementary channels work we define this
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define STM32_PWM_USE_ADVANCED TRUE
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#font for the osd
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
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# disable SMBUS monitors to save flash
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define AP_BATTMON_SMBUS_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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# save some flash
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include ../include/save_some_flash.inc
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define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0
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# only include ublox GPS driver
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include ../include/minimal_GPS.inc
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