From 6fa09c05c2280c5ee2de3b8a748108c2aeb15038 Mon Sep 17 00:00:00 2001 From: Michel Pastor Date: Fri, 17 Jan 2020 23:41:02 +0100 Subject: [PATCH] HAL_ChibiOS: added SuccexF4 board --- .../hwdef/SuccexF4/hwdef-bl.dat | 40 ++++++ .../AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat | 133 ++++++++++++++++++ 2 files changed, 173 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat new file mode 100644 index 0000000000..d36b6b19d7 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat @@ -0,0 +1,40 @@ +# hw definition file for processing by chibios_pins.py +# for SuccexF4 bootloader + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1011 + +# crystal frequency +OSCILLATOR_HZ 8000000 +STM32_PLLM_VALUE 8 + +FLASH_SIZE_KB 1024 + +# don't allow bootloader to use more than 16k +FLASH_USE_MAX_KB 16 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# LEDs +PB5 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 64 + +# board voltage +STM32_VDD 330U + +# order of UARTs +UART_ORDER OTG1 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 15360 + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat new file mode 100644 index 0000000000..3d7511daa6 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat @@ -0,0 +1,133 @@ +# hw definition file for processing by chibios_pins.py +# SuccexF4 + +MCU STM32F4xx STM32F405xx + +HAL_CHIBIOS_ARCH_F405 1 + +# board ID for firmware load +APJ_BOARD_ID 1011 + +# crystal frequency +OSCILLATOR_HZ 8000000 +STM32_PLLM_VALUE 8 + +# board voltage +STM32_VDD 330U + +STM32_ST_USE_TIMER 5 + +# flash size +FLASH_SIZE_KB 1024 +FLASH_RESERVE_START_KB 64 + +# ADC +PC1 BAT_CURR_SENS ADC1 SCALE(1) +PC2 BAT_VOLT_SENS ADC1 SCALE(1) + +# PWM outputs +PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50) +PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51) +PC9 TIM8_CH4 TIM8 PWM(3) GPIO(52) +PC8 TIM8_CH3 TIM8 PWM(4) GPIO(53) + +# Two IMUs on SPI1 +PC4 ICM20689_1_DRDY INPUT +PA8 ICM20689_2_DRDY INPUT +PA4 ICM20689_1_CS CS +PC3 ICM20689_2_CS CS +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# OSD on SPI2 +PB12 AT7456E_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# FLASH on SPI3 +PA15 FLASH_CS CS +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 +PC12 SPI3_MOSI SPI3 + +# Order of I2C buses +I2C_ORDER I2C1 + +# UART ports and I2C bus +UART_ORDER OTG1 USART3 USART1 USART2 USART6 + +# Note that this board needs pull-ups on I2C pins +PB8 I2C1_SCL I2C1 PULLUP +PB9 I2C1_SDA I2C1 PULLUP + +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 + +PA3 USART2_RX USART2 +PA2 USART2_TX USART2 + +PB11 USART3_RX USART3 +PB10 USART3_TX USART3 + +PC7 USART6_RX USART6 +PC6 USART6_TX USART6 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# LED and buzzer +PB4 TIM3_CH1 TIM3 GPIO(56) ALARM +PB5 LED OUTPUT HIGH GPIO(57) +define HAL_GPIO_A_LED_PIN 57 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +PC5 VBUS INPUT OPENDRAIN + +# LED strip pad as RC input +PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW + +# SPI Device table +SPIDEV icm20689_1 SPI1 DEVID1 ICM20689_1_CS MODE3 1*MHZ 8*MHZ +SPIDEV icm20689_2 SPI1 DEVID2 ICM20689_2_CS MODE3 1*MHZ 8*MHZ +SPIDEV osd SPI2 DEVID3 AT7456E_CS MODE0 10*MHZ 10*MHZ +SPIDEV dataflash SPI3 DEVID4 FLASH_CS MODE3 32*MHZ 32*MHZ + +# Two IMUs +IMU Invensense SPI:icm20689_1 ROTATION_YAW_270 +IMU Invensense SPI:icm20689_2 ROTATION_NONE + +# one baro +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 + +define STORAGE_FLASH_PAGE 1 +define HAL_STORAGE_SIZE 15360 + +# enable logging to dataflash +define HAL_LOGGING_DATAFLASH + +# define default battery setup +define HAL_BATT_VOLT_PIN 12 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_VOLT_SCALE 11 +define HAL_BATT_CURR_SCALE 18.2 + +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 + +define BOARD_PWM_COUNT_DEFAULT 4 + +#font for the osd +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin