mirror of https://github.com/ArduPilot/ardupilot
138 lines
2.8 KiB
Plaintext
138 lines
2.8 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# for Holybro KakuteF7 hardware.
|
|
@ thanks to betaflight for pin information
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F7xx STM32F745xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 123
|
|
|
|
# crystal frequency, setup to use external oscillator
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
define STM32_LSECLK 32768U
|
|
define STM32_LSEDRV (3U << 3U)
|
|
|
|
define STM32_PLLSRC STM32_PLLSRC_HSE
|
|
define STM32_PLLM_VALUE 8
|
|
define STM32_PLLN_VALUE 432
|
|
define STM32_PLLP_VALUE 2
|
|
define STM32_PLLQ_VALUE 9
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
# leave 2 sectors free
|
|
FLASH_RESERVE_START_KB 96
|
|
|
|
# board voltage
|
|
STM32_VDD 330U
|
|
|
|
# only one I2C bus
|
|
I2C_ORDER I2C1
|
|
|
|
# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
|
|
UART_ORDER OTG1 USART3 USART1 USART2 UART4
|
|
|
|
# PA10 IO-debug-console
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
PA2 LED0 OUTPUT LOW
|
|
|
|
# SPI1 for SDCard
|
|
PA4 SDCARD_CS CS
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
# SPI2 for MAX7456 OSD
|
|
PB12 MAX7456_CS CS
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
# SPI4 for ICM20689
|
|
PE4 ICM20689_CS CS
|
|
PE2 SPI4_SCK SPI4
|
|
PE5 SPI4_MISO SPI4
|
|
PE6 SPI4_MOSI SPI4
|
|
|
|
# I2C1 for baro
|
|
PB6 I2C1_SCL I2C1
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
# 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
|
|
|
|
PC5 RSSI_ADC ADC1
|
|
|
|
# USART1
|
|
PA10 USART1_RX USART1
|
|
PA9 USART1_TX USART1
|
|
|
|
# USART2
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
|
|
# USART3 (GPS)
|
|
PB11 USART3_RX USART3
|
|
PB10 USART3_TX USART3
|
|
|
|
# UART4 (GPS2)
|
|
PA0 UART4_TX UART4
|
|
PA1 UART4_RX UART4
|
|
|
|
# UART6, RX only, for RCIN
|
|
PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
|
|
|
|
# UART7 USED BY ESC FROM ORIGINAL DESIGN
|
|
#PE7 UART7_RX UART7
|
|
|
|
PB0 TIM3_CH3 TIM3 PWM(1)
|
|
PB1 TIM3_CH4 TIM3 PWM(2)
|
|
PE9 TIM1_CH1 TIM1 PWM(3)
|
|
PE11 TIM1_CH2 TIM1 PWM(4)
|
|
|
|
DMA_PRIORITY S*
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
|
define STORAGE_FLASH_PAGE 1
|
|
|
|
# spi devices
|
|
SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ
|
|
SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
|
|
define HAL_BARO_BMP280_BUS 0
|
|
define HAL_BARO_BMP280_I2C_ADDR 0x76
|
|
|
|
# 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
|
|
|
|
# probe for an invensense IMU
|
|
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
|
|
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
|
|
# setup for OSD
|
|
define OSD_ENABLED ENABLED
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|