mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -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
140 lines
2.7 KiB
Plaintext
140 lines
2.7 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# old F412 layout
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MCU STM32F4xx STM32F412Rx
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# board ID for firmware load
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APJ_BOARD_ID 9
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# crystal frequency
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OSCILLATOR_HZ 24000000
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STM32_HSE_ENABLED FALSE
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STM32_PLLM_VALUE 16
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STM32_PLLN_VALUE 384
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STM32_PLLP_VALUE 4
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STM32_PLLQ_VALUE 8
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STM32_PLLSRC STM32_PLLSRC_HSI
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STM32_PREE1 STM32_PREE1_DIV2
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STM32_PREE2 STM32_PREE2_DIV1
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STM32_PWM_USE_TIM3 TRUE
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# board voltage
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STM32_VDD 330U
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# flash size
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FLASH_SIZE_KB 1024
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# serial port for stdout
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STDOUT_SERIAL SD2
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STDOUT_BAUDRATE 115200
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# order of I2C buses
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I2C_ORDER I2C2 I2C1
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# order of UARTs
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UART_ORDER USART2 USART6 USART3
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PC0 MGND ADC1
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PC1 PWM4_SENSE ADC1
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PC2 PWM2_SENSE ADC1
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PC3 PWM1_SENSE ADC1
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PA0 PWM3_SENSE ADC1
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# USART2 is for debug
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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PA4 BATT_MON ADC1
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# SPI1 is radio
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA15 RADIO_CS CS
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PC4 RADIO_CE OUTPUT
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PC5 RADIO_PA_CTL OUTPUT
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# SPI5 is flow
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PB0 SPI5_SCK SPI5
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PA12 SPI5_MISO SPI5
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PA10 SPI5_MOSI SPI5
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PB1 FLOW_CS CS
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PB2 BOOT1 INPUT
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# I2C2 is GPS/mag
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PB10 I2C2_SCL I2C2
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PB3 I2C2_SDA I2C2
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# I2C1 is 20789
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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PB7 LEDF OUTPUT HIGH GPIO(0)
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PB6 LEDR OUTPUT HIGH GPIO(1)
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PB5 TIM3_CH2 TIM3 PWM(2) # marked CN15 front-right
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PD2 RADIO_IRQ INPUT GPIO(100)
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# USART3 is sonix
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PC11 USART3_RX USART3
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PC10 USART3_TX USART3
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# USART6 is for GPS
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PA11 USART6_TX USART6
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PC7 USART6_RX USART6
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PA8 OF_MOTION INPUT
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PC9 TIM3_CH4 TIM3 PWM(4) # marked CN17, rear-right
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PC8 TIM3_CH3 TIM3 PWM(3) # marked CN13, rear-left
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PC6 TIM3_CH1 TIM3 PWM(1) # marked CN3, front-left
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# SPI2 is MPU
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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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PB12 MPU_CS CS
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# SPI Device table
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SPIDEV cypress SPI1 DEVID1 RADIO_CS MODE0 2*MHZ 2*MHZ
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SPIDEV cc2500 SPI1 DEVID1 RADIO_CS MODE0 4*MHZ 4*MHZ
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SPIDEV pixartflow SPI5 DEVID2 FLOW_CS MODE3 2*MHZ 2*MHZ
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SPIDEV icm20789 SPI2 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ
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# reserve 16k for bootloader and 32k for storage
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FLASH_RESERVE_START_KB 48
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define HAL_CHIBIOS_ARCH_F412 1
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define HAL_INS_DEFAULT HAL_INS_ICM20789_SPI
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define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
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# radio IRQ is on GPIO(100)
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define HAL_GPIO_RADIO_IRQ 100
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define HAL_RCINPUT_WITH_AP_RADIO 1
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define STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 16384
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# setup defines for ArduCopter config
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define TOY_MODE_ENABLED ENABLED
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define ARMING_DELAY_SEC 0
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define LAND_START_ALT 700
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define LAND_DETECTOR_ACCEL_MAX 2.0f
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define CHIBIOS_ADC_MAVLINK_DEBUG 1
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define HAL_COMPASS_DEFAULT HAL_COMPASS_BMM150_I2C
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define HAL_COMPASS_BMM150_I2C_BUS 0
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define HAL_COMPASS_BMM150_I2C_ADDR 0x10
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define HAL_BARO_DEFAULT HAL_BARO_20789_I2C_SPI
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define HAL_BARO_20789_I2C_BUS 1
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define HAL_BARO_20789_I2C_ADDR_PRESS 0x63
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