mirror of https://github.com/ArduPilot/ardupilot
212 lines
5.6 KiB
Plaintext
212 lines
5.6 KiB
Plaintext
# hardware setup for V2450, based around FMUv3 but no IO MCU and
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# custom config options for ArduCopter
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# start with fmuv3 base port
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include ../fmuv3/hwdef.dat
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# remove some unnecessary features inherited from fmuv3
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undef UART8
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undef UART8_TX
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undef UART8_RX
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undef USART3
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undef USART3_TX
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undef USART3_RX
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undef CAN1
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undef CAN1_RX
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undef CAN1_TX
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undef CAN2
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undef CAN2_RX
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undef CAN2_TX
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undef IOMCU_UART
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undef AP_FEATURE_SBUS_OUT
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undef HAL_OS_FATFS_IO
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undef AP_FEATURE_RTSCTS
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undef HAL_WITH_RAMTRON
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undef IOMCU_UART
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undef SDIO
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undef HAL_BOARD_LOG_DIRECTORY
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undef HAL_BOARD_TERRAIN_DIRECTORY
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# short board name override (13 chars) to match original max length; can't change because name is used for transmitter bind CRC
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define CHIBIOS_SHORT_BOARD_NAME "skyviper-v245"
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SERIAL_ORDER OTG1 USART2 EMPTY UART4
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# enable AP_Radio support
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define HAL_RCINPUT_WITH_AP_RADIO 1
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define HAL_GPIO_RADIO_RESET 1 // PB0 GPIO from FMU3
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# setup for radio IRQ on PD15
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undef PD15
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PD15 MPU_DRDY INPUT GPIO(100)
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define HAL_GPIO_RADIO_IRQ 100
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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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# support cypress and cc2500 radios
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SPIDEV cypress SPI2 DEVID11 FRAM_CS MODE0 2*MHZ 2*MHZ
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SPIDEV cc2500 SPI2 DEVID12 FRAM_CS MODE0 4*MHZ 4*MHZ
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SPIDEV pixartflow SPI4 DEVID13 MPU_EXT_CS MODE3 2*MHZ 2*MHZ
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# SPI2 for the cypress needs exclusive access or we will end up with
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# lost packets
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DMA_PRIORITY SPI2_* SPI* ADC*
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DMA_NOSHARE SPI2_*
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undef PA1
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PA1 UART4_RX UART4 NODMA
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# use flash storage
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STORAGE_FLASH_PAGE 22
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env DEFAULT_PARAMETERS 'Tools/Frame_params/SkyViper-2450GPS/defaults.parm'
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# the web UI uses an abin file for firmware uploads
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env BUILD_ABIN True
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# Disable un-needed hardware drivers
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define AP_AIRSPEED_ENABLED 0
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define AP_BEACON_ENABLED 0
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define AP_OPTICALFLOW_ENABLED 0
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define AP_FRSKY_TELEM_ENABLED 0
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define AP_BEACON_ENABLED 0
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define GPS_MOVING_BASELINE 0
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define HAL_ADSB_SAGETECH_ENABLED 0
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define HAL_ADSB_UAVIONIX_MAVLINK_ENABLED 0
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define AP_AIS_ENABLED 0
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define AP_BATTERY_BACKEND_DEFAULT_ENABLED 0
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define AP_BATTERY_ANALOG_ENABLED 1
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define HAL_CRSF_TELEM_ENABLED 0
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define HAL_EFI_ENABLED 0
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define HAL_EXTERNAL_AHRS_ENABLED 0
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define HAL_GENERATOR_ENABLED 0
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define HAL_HOTT_TELEM_ENABLED 0
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define HAL_MOUNT_ENABLED 0
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define HAL_MSP_SENSORS_ENABLED 0
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define HAL_NMEA_OUTPUT_ENABLED 0
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define HAL_PARACHUTE_ENABLED 0
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define HAL_PICCOLO_CAN_ENABLE 0
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define HAL_RUNCAM_ENABLED 0
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define AP_SMARTAUDIO_ENABLED 0
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define HAL_SPEKTRUM_TELEM_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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define HAL_WITH_ESC_TELEM 0
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define AP_LANDINGGEAR_ENABLED 0
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define MODE_TURTLE_ENABLED 0
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define AP_ICENGINE_ENABLED 0
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define HAL_DISPLAY_ENABLED 0
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# serially-attached actuators aren't relevant on SkyViper:
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define AP_FETTEC_ONEWIRE_ENABLED 0
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define AP_ROBOTISSERVO_ENABLED 0
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define AP_VOLZ_ENABLED 0
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define HAL_SUPPORT_RCOUT_SERIAL 0
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define HAL_TORQEEDO_ENABLED 0
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# the SkyViper only has a single Baro:
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_ICM20789_ENABLED 1
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# SkyViper has only one physical GPS but can also take from mavlink:
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define AP_GPS_BACKEND_DEFAULT_ENABLED 0
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define AP_GPS_UBLOX_ENABLED 1
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define AP_GPS_MAV_ENABLED 1
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# enable only the QUAD frame
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define AP_MOTORS_FRAME_DEFAULT_ENABLED 0
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define AP_MOTORS_FRAME_QUAD_ENABLED 1
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# SkyViper isn't going to sprout new compasses:
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define COMPASS_MAX_SENSORS 1
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define AP_COMPASS_BACKEND_DEFAULT_ENABLED 0
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define AP_COMPASS_BMM150_ENABLED 1
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# avoid trying to detect BMM150 backends; the one compass is
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#specifed as part of PCNC1:
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define AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED 0
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define BARO_MAX_INSTANCES 1
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define INS_MAX_INSTANCES 1
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# SkyViper doesn't have any rangefinder, but might get mavlink?
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define AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED 0
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define AP_RANGEFINDER_MAVLINK_ENABLED 1
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# SkyViper doesn't have RPM sensors:
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define AP_RPM_ENABLED 0
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# SkyViper doesn't have a gripper:
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define AP_GRIPPER_ENABLED 0
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# SkyViper doesn't have serially-connected LEDs:
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define AP_SERIALLED_ENABLED 0
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# SkyViper has a very limited set of blinkenlights
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define AP_NOTIFY_NCP5623_ENABLED 0
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define AP_NOTIFY_PCA9685_ENABLED 0
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define AP_NOTIFY_TOSHIBALED_ENABLED 0
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undef AP_NOTIFY_OREOLED_ENABLED
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define AP_NOTIFY_OREOLED_ENABLED 0
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define HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED 0
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define AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED 0
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# SkyViper really doesn't need advanced failsafe features:
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define AP_ADVANCEDFAILSAFE_ENABLED 0
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// EKF3 features:
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define EK3_FEATURE_EXTERNAL_NAV 0
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define EK3_FEATURE_BODY_ODOM 0
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// video on SkyViper is via the Sonix
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define AP_VIDEOTX_ENABLED 0
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// good luck fitting a winch onto SkyViper:
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define AP_WINCH_ENABLED 0
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define AP_CAMERA_BACKEND_DEFAULT_ENABLED 0
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define AP_CAMERA_MAVLINK_ENABLED 1
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# SkyViper uses AP_Radio, which does its own RC protocol decoding:
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define AP_RCPROTOCOL_ENABLED 0
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// few prelcnad backends are applicable
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define AC_PRECLAND_BACKEND_DEFAULT_ENABLED 0
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define AC_PRECLAND_COMPANION_ENABLED 1
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// no proximity sensors are applicable:
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define AP_PROXIMITY_BACKEND_DEFAULT_ENABLED 0
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define AP_PROXIMITY_MAV_ENABLED 1
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# can't fit visual odometry cameras on!
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define AP_VISUALODOM_BACKEND_DEFAULT_ENABLED 0
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define AP_VISUALODOM_MAV_ENABLED 1
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// no OSD on SkyViper
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define OSD_ENABLED 0
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define OSD_PARAM_ENABLED 0
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// no MSP:
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define HAL_WITH_MSP_DISPLAYPORT 0
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define HAL_MSP_ENABLED 0
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// no UCP ADSB sensors:
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define HAL_ADSB_UCP_ENABLED 0
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// no auxiliary temperature sensors:
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define AP_TEMPERATURE_SENSOR_ENABLED 0
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// no LTM telemetry
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define AP_LTM_TELEM_ENABLED 0
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// no buttons on SkyViper:
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define HAL_BUTTON_ENABLED 0
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// disable scripting on SkyViper (should we enable this?)
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define AP_SCRIPTING_ENABLED 0
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AUTOBUILD_TARGETS Copter
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