mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-20 07:38:28 -04:00
c273b23940
this moves the key MCU config variables related to memory to the python MCU database, allowing the hwdef.dat to be considerably simpler
141 lines
2.9 KiB
Plaintext
141 lines
2.9 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Sparky2 hardware
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 70
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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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define STM32_ST_USE_TIMER 5
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FLASH_SIZE_KB 1024
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# board voltage
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STM32_VDD 330U
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# serial port for stdout via flexi-port (conn3)
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 115200
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# --------LEDs-----------
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PB5 LED_BLUE OUTPUT LOW GPIO(0)
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PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
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PB4 LED_RED OUTPUT LOW GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# ---------I2C-------------
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# only one I2C bus
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I2C_ORDER I2C1
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# -------BARO-------------
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define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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define HAL_BARO_MS5611_I2C_BUS 0
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define HAL_BARO_MS5611_I2C_ADDR 0x77
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# ---------USB-------------
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA8 VBUS INPUT OPENDRAIN
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# ---------UARTS-----------
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# order of UARTs (and USB)
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UART_ORDER OTG1 USART1 USART3
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# Main PORT
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# Flex PORT
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# -------RCIN-------------
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# Soft Serial for serial RC & PPM
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PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW
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PC6 SBUS_INVERT OUTPUT
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# -------ADC-------------
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analog pins
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup No Voltage Divider
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define HAL_BATT_VOLT_PIN 12
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define HAL_BATT_CURR_PIN 13
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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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# -----CAN BUS-------------
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PB13 CAN2_TX CAN2
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PB12 CAN2_RX CAN2
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# -----spi 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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PC4 MPU_CS CS
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PC5 EXTI_MPU9250 INPUT PULLUP
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# -----spi bus for FLASH-----
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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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PB3 FLASH_CS CS
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# -----USB & SWD-----------
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# PA10 IO-debug-console
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# ----------PWM-----------
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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 TIM2_CH4 TIM2 PWM(3) GPIO(52)
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PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
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PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
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PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
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# Buffered PWM N-Fets----
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# Require inverter to use
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# as standard pwm
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# PC9 TIM8_CH4 TIM8 PWM(7)
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# PC8 TIM8_CH3 TIM8 PWM(8)
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# PB15 TIM8_CH3N TIM8 PWM(9)
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PB14 TIM1_CH2N TIM1 PWM(7) GPIO(35)
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define HAL_STORAGE_SIZE 8192
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define STORAGE_FLASH_PAGE 1
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FLASH_SIZE_KB 1024
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# reserve 16k for bootloader and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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# SPI devices
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SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 1*MHZ 8*MHZ
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_SPARKY2
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define STM32_PWM_USE_ADVANCED TRUE
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define BOARD_PWM_COUNT_DEFAULT 7
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