mirror of https://github.com/ArduPilot/ardupilot
157 lines
3.2 KiB
Plaintext
157 lines
3.2 KiB
Plaintext
# hw definition file for KakuteF4 hardware
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
# Betaflight motor order for copter
|
|
define HAL_FRAME_TYPE_DEFAULT 12
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 122
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
define STM32_ST_USE_TIMER 4
|
|
define CH_CFG_ST_RESOLUTION 16
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
|
|
# only one I2C bus
|
|
I2C_ORDER I2C1
|
|
|
|
# LEDs
|
|
PB5 LED_BLUE OUTPUT LOW GPIO(0)
|
|
|
|
# buzzer
|
|
PC9 BUZZER OUTPUT GPIO(80) LOW
|
|
define HAL_BUZZER_PIN 80
|
|
|
|
|
|
|
|
# spi1 bus for IMU
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
# spi3 for dataflash and OSD
|
|
PC10 SPI3_SCK SPI3
|
|
PC11 SPI3_MISO SPI3
|
|
PC12 SPI3_MOSI SPI3
|
|
PB14 MAX7456_CS CS
|
|
|
|
# dataflash M25P16
|
|
PB3 FLASH_CS CS
|
|
|
|
PC4 ICM20689_CS CS
|
|
PC5 ICM20689_DRDY INPUT
|
|
|
|
# only one I2C bus in normal config
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
# analog pins
|
|
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
# RSSI analog input
|
|
PC1 RSSI_ADC_PIN ADC1 SCALE(1)
|
|
define BOARD_RSSI_ANA_PIN 11
|
|
|
|
# define default battery setup
|
|
define HAL_BATT_VOLT_PIN 13
|
|
define HAL_BATT_CURR_PIN 12
|
|
define HAL_BATT_VOLT_SCALE 10.1
|
|
define HAL_BATT_CURR_SCALE 17.0
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART6 USART1 UART4 UART5 USART3
|
|
|
|
# rcinput is PB11
|
|
PB11 TIM2_CH4 TIM2 RCININT PULLDOWN LOW
|
|
PB10 USART3_TX USART3
|
|
|
|
# SBUS inversion control pin, active high
|
|
PB15 USART3_RXINV OUTPUT LOW GPIO(78) POL(1)
|
|
|
|
# for FrSky S.PORT. Has builtin inverters and diode to combine
|
|
# RX and TX onto the one pin
|
|
PA9 USART1_TX USART1
|
|
PA10 USART1_RX USART1
|
|
|
|
# default Serial2 to FrSky telemetry
|
|
define DEFAULT_SERIAL2_PROTOCOL 10
|
|
|
|
# USART6, telem1, SERIAL1
|
|
PC6 USART6_TX USART6
|
|
PC7 USART6_RX USART6
|
|
|
|
# UART4 (GPS), SERIAL3
|
|
PA1 UART4_RX UART4 NODMA
|
|
PA0 UART4_TX UART4 NODMA
|
|
|
|
# UART5 (ESC telemetry sensor), SERIAL4
|
|
PD2 UART5_RX UART5
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
# USB detection
|
|
PA8 VBUS INPUT OPENDRAIN
|
|
|
|
# debug
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# PWM out pins. Note that channel order follows the ArduPilot motor
|
|
# order conventions
|
|
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
|
|
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
|
|
PA3 TIM5_CH4 TIM5 PWM(3) GPIO(52)
|
|
PA2 TIM5_CH3 TIM5 PWM(4) GPIO(53)
|
|
|
|
PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # LED strip
|
|
define HAL_NEOPIXEL_COUNT 8
|
|
|
|
define HAL_STORAGE_SIZE 15360
|
|
STORAGE_FLASH_PAGE 2
|
|
|
|
# reserve 32k for bootloader and 32k for flash storage
|
|
FLASH_RESERVE_START_KB 64
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
# external compass types
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
# SPI devices
|
|
SPIDEV mpu6000 SPI1 DEVID1 ICM20689_CS MODE3 1*MHZ 8*MHZ
|
|
SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
|
|
SPIDEV osd SPI3 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
# one IMU
|
|
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
|
|
|
|
# one baro
|
|
BARO BMP280 I2C:0:0x76
|
|
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
|
|
define AP_BARO_BMP280_ENABLED 1
|
|
|
|
# enable logging to dataflash
|
|
define HAL_LOGGING_DATAFLASH_ENABLED 1
|
|
|
|
# setup for OSD
|
|
define OSD_ENABLED 1
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
# minimal drivers to reduce flash usage
|
|
include ../include/minimal.inc
|
|
|
|
define DEFAULT_NTF_LED_TYPES 256
|