mirror of https://github.com/ArduPilot/ardupilot
128 lines
2.4 KiB
Plaintext
128 lines
2.4 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# old F412 layout
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MCU STM32F4xx STM32F412Rx
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# board ID for firmware load
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APJ_BOARD_ID 9
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# crystal frequency
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OSCILLATOR_HZ 24000000
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STM32_PWM_USE_TIM3 TRUE
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# flash size
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FLASH_SIZE_KB 1024
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# serial port for stdout
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STDOUT_SERIAL SD2
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STDOUT_BAUDRATE 115200
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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 USART2 USART3 EMPTY USART6
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PC0 MGND ADC1
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PC1 PWM4_SENSE ADC1
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PC2 PWM2_SENSE ADC1
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PC3 PWM1_SENSE ADC1
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PA0 PWM3_SENSE ADC1
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# USART2 is for debug
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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PA4 BATT_MON ADC1
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# SPI1 is radio
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA15 RADIO_CS CS
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PC4 RADIO_CE OUTPUT
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PC5 RADIO_PA_CTL OUTPUT
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# SPI5 is flow
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PB0 SPI5_SCK SPI5
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PA12 SPI5_MISO SPI5
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PA10 SPI5_MOSI SPI5
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PB1 FLOW_CS CS
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PB2 BOOT1 INPUT
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# I2C2 is GPS/mag
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PB10 I2C2_SCL I2C2
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PB3 I2C2_SDA I2C2
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# I2C1 is 20789
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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PB7 LEDF OUTPUT HIGH GPIO(0)
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PB6 LEDR OUTPUT HIGH GPIO(1)
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PB5 TIM3_CH2 TIM3 PWM(2) # marked CN15 front-right
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PD2 RADIO_IRQ INPUT GPIO(100)
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# USART3 is sonix
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PC11 USART3_RX USART3
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PC10 USART3_TX USART3
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# USART6 is for GPS
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PA11 USART6_TX USART6
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PC7 USART6_RX USART6
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PA8 OF_MOTION INPUT
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PC9 TIM3_CH4 TIM3 PWM(4) # marked CN17, rear-right
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PC8 TIM3_CH3 TIM3 PWM(3) # marked CN13, rear-left
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PC6 TIM3_CH1 TIM3 PWM(1) # marked CN3, front-left
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# SPI2 is MPU
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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 MPU_CS CS
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# SPI Device table
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SPIDEV cypress SPI1 DEVID1 RADIO_CS MODE0 2*MHZ 2*MHZ
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SPIDEV cc2500 SPI1 DEVID1 RADIO_CS MODE0 4*MHZ 4*MHZ
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SPIDEV pixartflow SPI5 DEVID2 FLOW_CS MODE3 2*MHZ 2*MHZ
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SPIDEV icm20789 SPI2 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ
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# reserve 16k for bootloader and 32k for storage
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FLASH_RESERVE_START_KB 48
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define HAL_CHIBIOS_ARCH_F412 1
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IMU Invensense SPI:icm20789 ROTATION_NONE
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# radio IRQ is on GPIO(100)
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define HAL_GPIO_RADIO_IRQ 100
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define HAL_RCINPUT_WITH_AP_RADIO 1
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STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 15360
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# setup defines for ArduCopter config
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define TOY_MODE_ENABLED ENABLED
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define ARMING_DELAY_SEC 0
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define LAND_START_ALT 700
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define LAND_DETECTOR_ACCEL_MAX 2.0f
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COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
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define HAL_BARO_DEFAULT HAL_BARO_20789_I2C_SPI
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define HAL_BARO_20789_I2C_BUS 1
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define HAL_BARO_20789_I2C_ADDR_PRESS 0x63
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# Disable un-needed hardware drivers
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define HAL_WITH_ESC_TELEM 0
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define AP_FETTEC_ONEWIRE_ENABLED 0
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