mirror of https://github.com/ArduPilot/ardupilot
181 lines
4.0 KiB
Plaintext
181 lines
4.0 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for FlyingmoonF407 hardware
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# MCU class and specific type
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MCU STM32F4xx STM32F407xx
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# board ID for firmware load
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APJ_BOARD_ID 1067
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FLASH_SIZE_KB 1024
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# this is the STM32 timer that ChibiOS will use for the low level
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# driver. This must be a 32 bit timer. We currently only support
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# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# this is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN
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PA9 VBUS INPUT OPENDRAIN
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# The normal usage of this ordering is:
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# 1) SERIAL0: console (primary mavlink, USB)
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# 2) SERIAL1: telem1
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# 3) SERIAL2: telem2
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# 3) SERIAL3: GPS1
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# 4) SERIAL4: GPS2
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SERIAL_ORDER OTG1 USART2 UART4 USART3 USART1
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# telem1
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# UART4 for telem2
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PC10 UART4_TX UART4 NODMA
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PC11 UART4_RX UART4 NODMA
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# USART3 for GPS1
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3
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# USART1 for GPS2
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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define HAL_STORAGE_SIZE 16384
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# CAN Busses
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# PD0 CAN1_RX CAN1
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# PD1 CAN1_TX CAN1
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#SPI1 for MPU
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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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PA4 ICM20689_CS CS
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# SPI bus for dataflash AND SD
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PB12 FRAM_CS CS SPEED_VERYLOW
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PE15 FLASH_CS CS
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# SPI3 bus for reserve
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ
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# one IMU
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IMU Invensense SPI:icm20689 ROTATION_YAW_270
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# one baro
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BARO MS56XX I2C:1:0x77
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# look for I2C RM3100 compass
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COMPASS RM3100 I2C:1:0x20 false ROTATION_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# enable FAT filesystem support
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define HAL_OS_FATFS_IO 1
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# now some defines for logging and terrain data files
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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 the order that I2C buses
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I2C_ORDER I2C1 I2C2
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# 2nd bus is internal
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define HAL_I2C_INTERNAL_MASK 2
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# PWM out pins
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
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PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
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PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
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PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
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PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
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PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
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PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
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PE4 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC13 EXTERN_GPIO2 OUTPUT GPIO(2)
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PC14 EXTERN_GPIO3 OUTPUT GPIO(3)
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PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
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PC15 EXTERN_GPIO5 OUTPUT GPIO(5)
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define RELAY1_PIN_DEFAULT 1
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define RELAY2_PIN_DEFAULT 2
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define RELAY3_PIN_DEFAULT 3
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define RELAY4_PIN_DEFAULT 4
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define RELAY5_PIN_DEFAULT 5
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# also USART6_RX for serial RC
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PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW DMA_CH0
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# LED setup is similar to PixRacer
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define HAL_HAVE_PIXRACER_LED
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PE3 LED_RED OUTPUT GPIO(10)
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PE2 LED_GREEN OUTPUT GPIO(11)
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PE1 LED_BLUE OUTPUT GPIO(12)
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PE0 LED_YELOW OUTPUT GPIO(13)
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define HAL_GPIO_A_LED_PIN 10
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define HAL_GPIO_B_LED_PIN 11
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define HAL_GPIO_C_LED_PIN 12
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# analog in
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PC0 PRESSURE_SENS ADC1 SCALE(2)
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PC1 RSSI_IN ADC1 SCALE(2)
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# define the primary battery connectors.
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PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
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PC4 VDD_5V_SENS ADC1 SCALE(2)
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PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2)
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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 20
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define HAL_BATT_CURR_SCALE 17
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PE5 TIM9_CH1 TIM9 ALARM
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# IRQ for MPU6000
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PB0 DRDY_ICM20689 INPUT PULLUP
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PB1 DRDY_IST8310 INPUT PULLUP
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