mirror of https://github.com/ArduPilot/ardupilot
157 lines
3.2 KiB
Plaintext
157 lines
3.2 KiB
Plaintext
# hw definition file for KakuteF4 hardware
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# Betaflight motor order for copter
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define HAL_FRAME_TYPE_DEFAULT 12
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# board ID for firmware load
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APJ_BOARD_ID 122
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define STM32_ST_USE_TIMER 4
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define CH_CFG_ST_RESOLUTION 16
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FLASH_SIZE_KB 1024
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# only one I2C bus
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I2C_ORDER I2C1
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# LEDs
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PB5 LED_BLUE OUTPUT LOW GPIO(0)
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# buzzer
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PC9 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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# spi1 bus for IMU
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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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# spi3 for dataflash and OSD
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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PB14 MAX7456_CS CS
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# dataflash M25P16
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PB3 FLASH_CS CS
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PC4 ICM20689_CS CS
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PC5 ICM20689_DRDY INPUT
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# only one I2C bus in normal config
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# analog pins
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# RSSI analog input
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PC1 RSSI_ADC_PIN ADC1 SCALE(1)
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define BOARD_RSSI_ANA_PIN 11
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# define default battery setup
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART6 USART1 UART4 UART5 USART3
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# rcinput is PB11
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PB11 TIM2_CH4 TIM2 RCININT PULLDOWN LOW
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PB10 USART3_TX USART3
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# SBUS inversion control pin, active high
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PB15 USART3_RXINV OUTPUT LOW GPIO(78) POL(1)
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# for FrSky S.PORT. Has builtin inverters and diode to combine
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# RX and TX onto the one pin
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# default Serial2 to FrSky telemetry
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define HAL_SERIAL2_PROTOCOL 10
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# USART6, telem1, SERIAL1
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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# UART4 (GPS), SERIAL3
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PA1 UART4_RX UART4 NODMA
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PA0 UART4_TX UART4 NODMA
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# UART5 (ESC telemetry sensor), SERIAL4
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PD2 UART5_RX UART5
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USB detection
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PA8 VBUS INPUT OPENDRAIN
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# debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM out pins. Note that channel order follows the ArduPilot motor
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# order conventions
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
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PA3 TIM5_CH4 TIM5 PWM(3) GPIO(52)
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PA2 TIM5_CH3 TIM5 PWM(4) GPIO(53)
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PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # LED strip
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define HAL_NEOPIXEL_COUNT 8
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 2
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# reserve 32k for bootloader and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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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_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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# SPI devices
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SPIDEV mpu6000 SPI1 DEVID1 ICM20689_CS MODE3 1*MHZ 8*MHZ
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SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI3 DEVID4 MAX7456_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 I2C:0:0x76
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_BMP280_ENABLED 1
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# minimal drivers to reduce flash usage
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include ../include/minimal.inc
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define DEFAULT_NTF_LED_TYPES 256
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