401e5c2073
add support for sampling GPIO pins using timer don't restart pwm group when not doing bi-dir fix hwdef generation preproc for TIM DMA decode telemetry at the start of the dshot cycle calculate dshot pulse separation correctly and ensure we output rapidly enough calculate dshot min periods and timeouts correctly refactor dshot_send() into dshot_send_groups() use bi-dir dshot channel mask selectively enable bi-dir RC Channels process bi-dir mask correctly when allocating DMA channels allow UP and CH DMA channel sharing optionally enable bidir vars in hwdef. enable bi-dir dshot in KakuteF7Mini enable bi-dir dshot in OmnibusF4Pro enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in MatekF405 enable bi-dir dshot in fmuv5 enable bi-dir dshot in fmuv3 enable bi-dir dshot in OmnibusF7V2 enable bi-dir dshot in OmnibusNanoV6 enable bi-dir dshot in CubeOrange enable bi-dir dshot in Pixracer enable bi-dir dshot in mRoPixracerPro Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
174 lines
3.8 KiB
Plaintext
174 lines
3.8 KiB
Plaintext
# hw definition file for MatekF405 hardware
|
|
# tested on the MatekF405-OSD board
|
|
# with thanks to betaflight for pinout
|
|
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 125
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
define STM32_ST_USE_TIMER 4
|
|
define CH_CFG_ST_RESOLUTION 16
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
|
|
# only one I2C bus
|
|
I2C_ORDER I2C1
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART3 UART4 USART1 UART5 USART2
|
|
|
|
# LEDs
|
|
PB9 LED_BLUE OUTPUT LOW GPIO(0)
|
|
PA14 LED_GREEN OUTPUT LOW GPIO(1)
|
|
|
|
define HAL_GPIO_A_LED_PIN 0
|
|
define HAL_GPIO_B_LED_PIN 1
|
|
|
|
# buzzer
|
|
PC13 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
|
|
|
|
# spi2 for OSD
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
PB10 MAX7456_CS CS
|
|
|
|
# spi3 for sdcard and onboard flash
|
|
PB3 SPI3_SCK SPI3
|
|
PB4 SPI3_MISO SPI3
|
|
PB5 SPI3_MOSI SPI3
|
|
PC1 SDCARD_CS CS
|
|
PC0 M25P16_CS CS
|
|
|
|
PC2 MPU6000_CS CS
|
|
|
|
# only one I2C bus in normal config
|
|
PB6 I2C1_SCL I2C1
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
# analog pins
|
|
PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
PB1 RSSI_ADC_PIN ADC1 SCALE(1)
|
|
|
|
# define default battery setup
|
|
# PC5 - ADC12_CH15
|
|
define HAL_BATT_VOLT_PIN 15
|
|
# PC4 - ADC12_CH14
|
|
define HAL_BATT_CURR_PIN 14
|
|
define HAL_BATT_VOLT_SCALE 10.1
|
|
define HAL_BATT_CURR_SCALE 17.0
|
|
|
|
#analog rssi pin (also could be used as analog airspeed input)
|
|
# PB1 - ADC12_CH9
|
|
define BOARD_RSSI_ANA_PIN 9
|
|
|
|
# USART1
|
|
PA9 USART1_TX USART1
|
|
PA10 USART1_RX USART1
|
|
|
|
# RC input using timer
|
|
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN
|
|
|
|
# alternative RC input using UART
|
|
PA2 USART2_TX USART2 NODMA
|
|
PA3 USART2_RX USART2 NODMA ALT(1)
|
|
|
|
# USART3
|
|
PC10 USART3_TX USART3
|
|
PC11 USART3_RX USART3
|
|
|
|
# UART4
|
|
PA0 UART4_TX UART4
|
|
PA1 UART4_RX UART4
|
|
|
|
# UART5
|
|
PD2 UART5_RX UART5
|
|
PC12 UART5_TX UART5
|
|
|
|
# PA10 IO-debug-console
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
# USB detection
|
|
PB12 VBUS INPUT OPENDRAIN
|
|
|
|
# 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
|
|
PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50) BIDIR
|
|
PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51)
|
|
PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52)
|
|
PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53)
|
|
PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
|
|
PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
|
|
|
|
define HAL_STORAGE_SIZE 15360
|
|
define 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
|
|
|
|
# probe for I2C BMP280, but allow init on board variants without onboard baro too
|
|
BARO BMP280 I2C:0:0x76
|
|
define HAL_PROBE_EXTERNAL_I2C_BAROS
|
|
define HAL_BARO_ALLOW_INIT_NO_BARO
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
# external compass types
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
# SPI devices
|
|
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
|
|
SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
SPIDEV osd SPI2 DEVID1 MAX7456_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"
|
|
|
|
# 8 PWM available by default
|
|
define BOARD_PWM_COUNT_DEFAULT 8
|
|
|
|
# setup for OSD
|
|
define OSD_ENABLED 1
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
# disable SMBUS and fuel battery monitors to save flash
|
|
define HAL_BATTMON_SMBUS_ENABLE 0
|
|
define HAL_BATTMON_FUEL_ENABLE 0
|
|
|
|
# disable parachute and sprayer to save flash
|
|
define HAL_PARACHUTE_ENABLED 0
|
|
define HAL_SPRAYER_ENABLED 0
|
|
|
|
# reduce max size of embedded params for apj_tool.py
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
|