mirror of https://github.com/ArduPilot/ardupilot
146 lines
3.0 KiB
Plaintext
146 lines
3.0 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, no 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_PLLM_VALUE 8
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# board voltage
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STM32_VDD 330U
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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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UART_ORDER OTG1 USART6 USART1 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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PA0 RSSI_IN ADC1
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#pwm output
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PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
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PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
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PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
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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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# 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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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 (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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#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM
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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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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSNANOV6
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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 ENABLED
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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 4
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#define CH_DBG_ENABLE_ASSERTS TRUE
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#define CH_DBG_ENABLE_CHECKS TRUE
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#define CH_DBG_SYSTEM_STATE_CHECK TRUE
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#define CH_DBG_ENABLE_STACK_CHECK TRUE
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#font for the osd
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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