mirror of https://github.com/ArduPilot/ardupilot
143 lines
3.0 KiB
Plaintext
143 lines
3.0 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 130
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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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# use USB for stdout, so no STDOUT_SERIAL
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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 15360
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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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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 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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