mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
401e5c2073
add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
151 lines
3.2 KiB
Plaintext
151 lines
3.2 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Omnibus F4 Nano V6 only
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# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, flash log storage
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 133
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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 I2C1
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# order of UARTs
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SERIAL_ORDER OTG1 USART1 UART4 USART6 USART3
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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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PA0 RSSI_IN ADC1
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#pwm output
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53) BIDIR
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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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# I2C1 on PPM / PB9 pads of V6.x board revision
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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# use RX3 / TX3 pins as USART3 = SERIAL4 in BRD_ALT_CONFIG = 1
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PB10 USART3_TX USART3 ALT(1)
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PB11 USART3_RX USART3 ALT(1)
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# SPI2 for flash
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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 FLASH_CS CS
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# USART1 = SERIAL1 on original V6 revision only
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# not available on V6.x revisions due to altered inverter layout
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART6 = SERIAL3
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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# UART4 (ESC sensor)
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PA1 UART4_RX UART4
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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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PA8 LED OUTPUT HIGH GPIO(41)
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# passive buzzer disabled, timer 3 used for PWM(4) output
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#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM
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# use active buzzer instead
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PB4 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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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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#LED strip output pad used for RC input
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PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW
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#Omnibus F4 V3 and later had hw inverter on UART6
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#Overide it to use as GPS UART port
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PC8 SBUS_INVERT_RX OUTPUT LOW
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PC9 SBUS_INVERT_TX OUTPUT 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 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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SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_90
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# one baro
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BARO BMP280 SPI:bmp280
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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_COMPASS_DEFAULT HAL_COMPASS_NONE
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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 STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 15360
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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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#analog rssi pin (also could be used as analog airspeed input)
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#PA0 - ADC123_CH0
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define BOARD_RSSI_ANA_PIN 0
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define HAL_GPIO_A_LED_PIN 41
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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define BOARD_PWM_COUNT_DEFAULT 4
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#font for the osd
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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define HAL_MOUNT_ENABLED 0
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