mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -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>
164 lines
4.0 KiB
Plaintext
164 lines
4.0 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 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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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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# TIM3 is needed for bi-directional dshot
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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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# 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 HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define 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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define BOARD_PWM_COUNT_DEFAULT 8
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#font for the osd
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# disable SMBUS and fuel battery monitors to save flash
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define HAL_BATTMON_SMBUS_ENABLE 0
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define HAL_BATTMON_FUEL_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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