mirror of https://github.com/ArduPilot/ardupilot
173 lines
4.1 KiB
Plaintext
173 lines
4.1 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Mamba F405 MK2
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# With F405 MCU, MPU6000 IMU and 7456 series OSD
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# Based on Mamba F405 from jeanphilippehell
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@ thanks to betaflight for pin information
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# MCU class and specific type.
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MCU STM32F4xx STM32F405xx
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HAL_CHIBIOS_ARCH_F405 1
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# board ID for firmware load
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APJ_BOARD_ID 1019
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# board voltage
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STM32_VDD 330U
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STM32_ST_USE_TIMER 4
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define CH_CFG_ST_RESOLUTION 16
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# order of I2C buses
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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# this order follows the labels on the board
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# namely COMPUTER, PPM/SBUS (configurable as USART), TX3/RX3, TX6/RX6
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SERIAL_ORDER OTG1 USART1 EMPTY USART3 EMPTY EMPTY USART6
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# The pins that USB is connected on
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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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# USART1 is wired to SBUS and PPM input
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# RC input defaults to timer capture
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PA10 TIM1_CH3 TIM1 RCININT PULLDOWN
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PA9 USART1_TX USART1
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# Alt config to allow RCIN on UART
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PA10 USART1_RX USART1 ALT(1)
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
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# SBUS inversion control pin, active low
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PC0 USART1_RXINV OUTPUT HIGH GPIO(78) POL(0)
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
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# USART3 (VTX)
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Tramp
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None
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# USART6 (ESC Telemetry)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
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# The pins for SWD debugging with a STlinkv2 or black-magic probe (not tested)
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# ADC
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 RSSI_ADC ADC1
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PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# PWM output. 1 - 4 on ESC header
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PA3 TIM2_CH4 TIM2 PWM(1) GPIO(50) BIDIR
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PB0 TIM3_CH3 TIM3 PWM(2) GPIO(51)
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PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR
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PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
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# Board LEDs
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PB5 LED_BLUE OUTPUT LOW GPIO(1)
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PB4 LED_GREEN OUTPUT LOW GPIO(2)
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define HAL_GPIO_A_LED_PIN 1
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define HAL_GPIO_B_LED_PIN 2
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# External LEDs
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)
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# Buzzer
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PA8 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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# Camera control
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PB9 CAM_C OUTPUT LOW GPIO(81)
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define RELAY2_PIN_DEFAULT 81
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# Note that this board needs PULLUP on I2C pins
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PB6 I2C1_SCL I2C1 PULLUP
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PB7 I2C1_SDA I2C1 PULLUP
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# SPI1 - Internal IMU
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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 - OSD
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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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# OSD max7456
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PB12 OSD_CS CS
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# SPI3 - dataflash
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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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# Dataflash M25P16
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PB3 FLASH_CS CS
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# SPI Device table
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm42688 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ
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SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI2 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
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# One IMU rotated in yaw
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IMU Invensense SPI:mpu6000 ROTATION_YAW_90
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
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# Probe for I2C BMP280
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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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define HAL_BARO_ALLOW_INIT_NO_BARO 1
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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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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 1
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# flash size
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FLASH_SIZE_KB 1024
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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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# define default battery setup
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define HAL_BATT_VOLT_PIN 11
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define HAL_BATT_CURR_PIN 13
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define HAL_BATT_VOLT_SCALE 11
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define HAL_BATT_CURR_SCALE 25.0
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define HAL_BATT_MONITOR_DEFAULT 4
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# Analog RSSI pin (also could be used as analog airspeed input)
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define BOARD_RSSI_ANA_PIN 12
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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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# Font for the osd
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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DMA_PRIORITY TIM2* TIM3*
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# minimal drivers to reduce flash usage
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include ../include/minimize_fpv_osd.inc
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