mirror of https://github.com/ArduPilot/ardupilot
145 lines
3.1 KiB
Plaintext
145 lines
3.1 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# for OMNIBUSF7V2 hardware.
|
|
@ thanks to betaflight for pin information
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F7xx STM32F745xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 121
|
|
|
|
# crystal frequency, setup to use external oscillator
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
# reserve one sector for bootloader and 2 for storage
|
|
FLASH_RESERVE_START_KB 96
|
|
|
|
|
|
# only one I2C bus
|
|
I2C_ORDER I2C2
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART1 USART3 USART6 USART2 UART7
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
PE0 LED0 OUTPUT LOW
|
|
PD15 TIM4_CH4 TIM4 GPIO(57) ALARM
|
|
|
|
# ICM-20608 on SPI1
|
|
PA4 MPU6000_CS CS
|
|
|
|
# MPU6500 on SPI3
|
|
PA15 MPU6500_CS CS
|
|
|
|
# SPI1 for IMU and baro
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
# SPI2 for MAX7456 OSD
|
|
PB12 MAX7456_CS CS
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
PC10 SPI3_SCK SPI3
|
|
PC11 SPI3_MISO SPI3
|
|
PC12 SPI3_MOSI SPI3
|
|
|
|
# SPI4 for SDCard
|
|
PE4 SDCARD_CS CS
|
|
PE2 SPI4_SCK SPI4
|
|
PE5 SPI4_MISO SPI4
|
|
PE6 SPI4_MOSI SPI4
|
|
|
|
# external I2C device2, pins shared with USART3, normally disabled
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# baro is BMP280 on SPI1
|
|
PA1 BMP280_CS CS
|
|
|
|
# mag is on I2C if connected
|
|
|
|
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
PC5 RSSI_ADC ADC1
|
|
|
|
# setup two IMUs
|
|
IMU Invensense SPI:mpu6000 ROTATION_NONE
|
|
IMU Invensense SPI:mpu6500 ROTATION_YAW_90
|
|
|
|
# USART1
|
|
PA10 USART1_RX USART1
|
|
PA9 USART1_TX USART1
|
|
|
|
# RC input using timer by default
|
|
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN
|
|
|
|
# alternative RC input using USART2
|
|
PA3 USART2_RX USART2 NODMA ALT(1)
|
|
|
|
# USART3, enabled as ALT config in place of I2C
|
|
PB10 USART3_TX USART3 ALT(2)
|
|
PB11 USART3_RX USART3 ALT(2)
|
|
|
|
# USART6
|
|
PC7 USART6_RX USART6
|
|
PC6 USART6_TX USART6
|
|
|
|
# UART7 (V2 version, ESC telem)
|
|
PE7 UART7_RX UART7
|
|
|
|
|
|
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
|
|
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR
|
|
PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) BIDIR
|
|
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53)
|
|
|
|
DMA_PRIORITY ADC* USART6* TIM1_CH1 TIM3_CH4 TIM1_UP TIM3_UP SPI4* SPI1*
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
|
STORAGE_FLASH_PAGE 1
|
|
|
|
# spi devices
|
|
SPIDEV bmp280 SPI1 DEVID1 BMP280_CS MODE3 1*MHZ 8*MHZ
|
|
SPIDEV mpu6000 SPI1 DEVID2 MPU6000_CS MODE3 1*MHZ 4*MHZ
|
|
SPIDEV mpu6500 SPI3 DEVID1 MPU6500_CS MODE3 1*MHZ 4*MHZ
|
|
SPIDEV sdcard SPI4 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
# external compass types
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
# disable SMBUS and fuel battery monitors to save flash
|
|
define AP_BATTMON_SMBUS_ENABLE 0
|
|
define AP_BATTMON_FUEL_ENABLE 0
|
|
|
|
# disable parachute and sprayer to save flash
|
|
define HAL_PARACHUTE_ENABLED 0
|
|
define HAL_SPRAYER_ENABLED 0
|
|
|
|
# one baro
|
|
BARO BMP280 SPI:bmp280
|
|
|
|
define OSD_ENABLED 1
|
|
define OSD_PARAM_ENABLED 0
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|