mirror of https://github.com/ArduPilot/ardupilot
158 lines
3.5 KiB
Plaintext
158 lines
3.5 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# for Revo-Mini hardware
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 124
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
define STM32_ST_USE_TIMER 5
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
|
|
# use USB for stdout, so no STDOUT_SERIAL
|
|
# STDOUT_SERIAL SD3
|
|
# STDOUT_BAUDRATE 57600
|
|
|
|
# two I2C bus: I2C1 internal, I2C2 external
|
|
I2C_ORDER I2C1 I2C2
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART1 USART3 USART6 USART2 UART4
|
|
|
|
# rcinput is PB14, which is the 1st "PWM IN" pin (the white wire on a
|
|
# revolution board)
|
|
PB14 TIM12_CH1 TIM12 RCININT PULLDOWN LOW
|
|
|
|
# analog pins
|
|
PC3 VDD_5V_SENS ADC1
|
|
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
PC5 USB_SENSE ADC1
|
|
|
|
# define default battery setup
|
|
define HAL_BATT_VOLT_PIN 12
|
|
define HAL_BATT_CURR_PIN 11
|
|
define HAL_BATT_VOLT_SCALE 10.1
|
|
define HAL_BATT_CURR_SCALE 17.0
|
|
|
|
# LEDs
|
|
PB5 LED_BLUE OUTPUT LOW GPIO(0)
|
|
PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
|
|
PB4 LED_RED OUTPUT LOW GPIO(2)
|
|
|
|
# GPS port
|
|
PC6 USART6_TX USART6
|
|
PC7 USART6_RX USART6
|
|
# SBUS inversion control pin, active high
|
|
PC0 USART6_RXINV OUTPUT LOW GPIO(78) POL(1)
|
|
|
|
# USART3 (SERIAL2) on flexi port in BRD_ALT_CONFIG = 3 & 4 & 5
|
|
PB10 USART3_TX USART3 ALT(3)
|
|
PB11 USART3_RX USART3 ALT(3)
|
|
PB10 USART3_TX USART3 ALT(4)
|
|
PB11 USART3_RX USART3 ALT(4)
|
|
PB10 USART3_TX USART3 ALT(5)
|
|
PB11 USART3_RX USART3 ALT(5)
|
|
|
|
# main port, for telem1
|
|
PA9 USART1_TX USART1
|
|
PA10 USART1_RX USART1
|
|
|
|
# USART2 = SERIAL4 Rx & Tx on PWMOutput pins 3 & 4 in BRD_ALT_CONFIG = 1 & 2 & 4 & 5
|
|
PA2 USART2_TX USART2 ALT(1)
|
|
PA3 USART2_RX USART2 ALT(1)
|
|
PA2 USART2_TX USART2 ALT(2)
|
|
PA3 USART2_RX USART2 ALT(2)
|
|
PA2 USART2_TX USART2 ALT(4)
|
|
PA3 USART2_RX USART2 ALT(4)
|
|
PA2 USART2_TX USART2 ALT(5)
|
|
PA3 USART2_RX USART2 ALT(5)
|
|
|
|
# UART4 = SERIAL5 Rx & Tx on PWMOutput pins 5 & 6 in BRD_ALT_CONFIG = 2 & 5
|
|
PA0 UART4_TX UART4 ALT(2)
|
|
PA1 UART4_RX UART4 ALT(2)
|
|
PA0 UART4_TX UART4 ALT(5)
|
|
PA1 UART4_RX UART4 ALT(5)
|
|
|
|
# flexi port, for external I2C
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# spi bus for IMU
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
# spi bus for dataflash
|
|
PC10 SPI3_SCK SPI3
|
|
PC11 SPI3_MISO SPI3
|
|
PC12 SPI3_MOSI SPI3
|
|
|
|
# IRQ for MPU6000
|
|
PC4 EXTI_MPU6000 INPUT
|
|
|
|
# PA10 IO-debug-console
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# only one I2C bus in normal config
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
# SPI chip selects
|
|
PA4 MPU_CS CS
|
|
PB3 FLASH_CS CS
|
|
|
|
# PWM out pins
|
|
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
|
|
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
|
|
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
|
|
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
|
|
PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
|
|
PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
|
|
PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
|
|
PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
|
|
|
|
PB7 DRDY_HMC5883 INPUT PULLUP
|
|
|
|
define HAL_STORAGE_SIZE 15360
|
|
STORAGE_FLASH_PAGE 2
|
|
|
|
# reserve 32k for bootloader and 32k for flash storage
|
|
FLASH_RESERVE_START_KB 64
|
|
|
|
# one IMU
|
|
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
|
|
|
|
# one baro
|
|
BARO MS56XX I2C:0:0x77
|
|
|
|
# look for internal I2C compass
|
|
COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
|
|
|
|
# also allow for probing of external compasses
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
# SPI devices
|
|
SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ
|
|
SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
|
|
|
|
# enable logging to dataflash
|
|
define HAL_LOGGING_DATAFLASH_ENABLED 1
|
|
|
|
define HAL_GYROFFT_ENABLED 0
|
|
|
|
# bootloader embedding / bootloader flashing not available
|
|
define AP_BOOTLOADER_FLASHING_ENABLED 0
|
|
include ../include/minimize_fpv_osd.inc
|
|
|