mirror of https://github.com/ArduPilot/ardupilot
175 lines
4.2 KiB
Plaintext
175 lines
4.2 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for TAKER F745 BT hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_GEPRCF745BTHD
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# leave 2 sectors free
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FLASH_RESERVE_START_KB 96
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# only one I2C bus
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I2C_ORDER I2C1
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# I2C1 for baro
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# order of UARTs (and USB),
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8
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# buzzer
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#define HAL_BUZZER_PIN 80
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for MPU6000
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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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# SPI2 for ICM42688
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PB12 ICM42605_CS CS
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI3 for SDCard
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PA15 SDCARD_CS CS
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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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# SPI4 for MAX7456 OSD
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PE4 MAX7456_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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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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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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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 11.13
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define HAL_BATT_CURR_SCALE 28.5
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PC13 LED0 OUTPUT LOW GPIO(90) # LED
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define AP_NOTIFY_GPIO_LED_1_ENABLED 1
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define AP_NOTIFY_GPIO_LED_1_PIN 90
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# In order to accommodate bi-directional dshot certain devices cannot be DMA enabled
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# NODMA indicates these devices, if you remove it they will still not be resolved for DMA
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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort
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# USART2
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# RC input defaults to UART to allow for bi-dir dshot
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL2_BAUD 115
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# USART3 (BT)
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PB11 USART3_RX USART3 NODMA
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PB10 USART3_TX USART3 NODMA
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# UART4 (GPS)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
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# UART6
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None
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# UART7
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None
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# UART8
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PE0 UART8_RX UART8 NODMA
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PE1 UART8_TX UART8 NODMA
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define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
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# Motors, bi-directional dshot capable
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) # M1
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR # M2
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PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) # M3
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PB4 TIM3_CH1 TIM3 PWM(4) GPIO(53) BIDIR # M4
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) # M5
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) NODMA # M7
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) NODMA # M8
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# extra PWM outs
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # led pin
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PD2 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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DMA_PRIORITY USART2*
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define HAL_STORAGE_SIZE 16384
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STORAGE_FLASH_PAGE 1
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# spi devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm42688 SPI2 DEVID1 ICM42605_CS MODE3 2*MHZ 16*MHZ
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SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV osd SPI4 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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# IMU setup
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IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
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IMU Invensense SPI:mpu6000 ROTATION_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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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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# one BARO
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BARO BMP280 I2C:0:0x76
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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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/font0.bin
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# save some flash
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include ../include/minimize_fpv_osd.inc
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undef AP_BARO_PROBE_EXTERNAL_I2C_BUSES
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define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 1
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