diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405/hwdef-bl.dat new file mode 100644 index 0000000000..28b7858d68 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405/hwdef-bl.dat @@ -0,0 +1,35 @@ +# hw definition file for processing by chibios_pins.py +# for minimal F405 bootloader + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1078 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 1024 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# LEDs +PA14 LED_BOOTLOADER OUTPUT LOW # blue led +PA13 LED_ACTIVITY OUTPUT LOW # green led +define HAL_LED_ON 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 64 + +# order of UARTs +SERIAL_ORDER OTG1 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# Add CS pins to ensure they are high in bootloader +PA4 IMU_CS CS +PB6 SDCARD_CS CS +PB12 AT7456E_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405/hwdef.dat new file mode 100644 index 0000000000..6dbc14512f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405/hwdef.dat @@ -0,0 +1,169 @@ +# hw definition file for AtomRC F405 hardware + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1078 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +define STM32_ST_USE_TIMER 5 + +FLASH_SIZE_KB 1024 + +# only one I2C bus +I2C_ORDER I2C1 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 + +# LEDs +PA14 LED_BLUE OUTPUT LOW GPIO(0) +PA13 LED_GREEN OUTPUT LOW GPIO(1) + +define HAL_GPIO_A_LED_PIN 0 +define HAL_GPIO_B_LED_PIN 1 + +# buzzer +PC5 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 +define HAL_BUZZER_ON 1 +define HAL_BUZZER_OFF 0 + +# spi1 bus for IMU +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 +PA4 IMU_CS CS + +# spi2 for OSD +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 +PB12 AT7456E_CS CS + +# spi3 for sdcard +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 +PB6 SDCARD_CS CS + +# one I2C bus +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# analog pins +PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +PC0 RSSI_ADC_PIN ADC1 SCALE(1) +PC3 AIRSPEED_ADC ADC1 SCALE(1) + +define HAL_DEFAULT_AIRSPEED_PIN 13 + +# define default battery setup +define HAL_BATT_VOLT_PIN 12 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_VOLT_SCALE 11.08836 +define HAL_BATT_CURR_SCALE 30.0 +define HAL_BATT_MONITOR_DEFAULT 4 + +# analog rssi pin +define BOARD_RSSI_ANA_PIN 10 + +# USART1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# USART2 - RCIN with inverter +PA2 USART2_TX USART2 +PA3 TIM9_CH2 TIM9 RCININT PULLDOWN + +# alternative with PA3 as USART2_RX +PA3 USART2_RX USART2 NODMA ALT(1) + +# USART3 +PC10 USART3_TX USART3 +PC11 USART3_RX USART3 +define HAL_SERIAL3_PROTOCOL 0 + +# UART4 GPS +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA +define HAL_SERIAL4_PROTOCOL 5 + +# UART5 for DJI OSD +PD2 UART5_RX UART5 NODMA +PC12 UART5_TX UART5 NODMA + +# USART6 +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# debug (disabled out to allow for both LEDs) +#PA13 JTMS-SWDIO SWD +#PA14 JTCK-SWCLK SWD + +# PWM out pins. Note that channel order follows the ArduPilot motor +# order conventions +PC8 TIM3_CH3 TIM3 PWM(1) GPIO(50) +PC9 TIM3_CH4 TIM3 PWM(2) GPIO(51) +PA8 TIM1_CH1 TIM1 PWM(3) GPIO(52) +PB1 TIM1_CH3N TIM1 PWM(4) GPIO(53) +PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) +PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55) +PB11 TIM2_CH4 TIM2 PWM(7) GPIO(56) +PB0 TIM1_CH2N TIM1 PWM(8) GPIO(57) +PB7 TIM4_CH2 TIM4 PWM(9) GPIO(58) # LED strip + +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 BMI270 SPI:bmi270 ROTATION_PITCH_180 + +# I2C BMP280 or SPL06 +BARO SPL06 I2C:0:0x76 +BARO BMP280 I2C:0:0x76 + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 + +# SPI devices +SPIDEV bmi270 SPI1 DEVID1 IMU_CS MODE3 1*MHZ 10*MHZ +SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ +SPIDEV osd SPI2 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ + +# filesystem setup on sdcard +define HAL_OS_FATFS_IO 1 +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin + +# reduce max size of embedded params for apj_tool.py +define AP_PARAM_MAX_EMBEDDED_PARAM 256 + +# save some flash +define AP_BATTMON_SMBUS_ENABLE 0 +define HAL_GENERATOR_ENABLED 0 +define AC_OAPATHPLANNER_ENABLED 0 +define PRECISION_LANDING 0 +define AP_OPTICALFLOW_ENABLED 0 +define AP_ICENGINE_ENABLED 0 +define HAL_PARACHUTE_ENABLED 0 +define HAL_SPRAYER_ENABLED 0