night-ghost
7 years ago
committed by
Andrew Tridgell
42 changed files with 603 additions and 468 deletions
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this is for Matek F405-CTR board |
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# Board connection |
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Just see board's documentation. |
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## Default connection |
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| Function | Serial | |
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| ------ | ------ | |
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| USB | Serial0 in MP | |
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| Telemetry | UART1 (Serial1) | |
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| GPS | UART6 (Serial3) | |
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| Built-in OSD | Serial2 | |
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| UART2 | Serial4 | |
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| UART5 | Serial5 | |
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This board REQUIRES external Compass via I2C bus. |
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## OSD |
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Built-in OSD can be configured via files in root directory of SD card: |
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- eeprom.osd is configuration, exported from Configuration Tool. |
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- font.mcm is font (select one of https://github.com/night-ghost/minimosd-extra/tree/master/Released/FW_%2B_Char). This file will be deleted after flashing. |
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Firmware supports connection to built-in OSD with CT from my MinimOSD (https://github.com/night-ghost/minimosd-extra). To do this: |
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- set BRD_CONNECT_COM parameter to OSD's Serial (usually 2), then reboot / power cycle |
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- USB will be connected to OSD after reboot, supported load/store/fonts in MAVLink mode |
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## Voltage and current reading |
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How to get voltage/current reading(tested on omnibus, should work on other targets to): |
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- BAT_MONITOR 4 |
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- BAT_VOLT_PIN 8 |
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- BAT_CURR_PIN 7 |
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- BAT_VOLT_MULT 11.0 (or 10.1 for apm power module) |
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- BAT_AMP_PERVOLT 38.0 (or 17 for apm power module) |
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Don't try to configure Curr/Vol reading from Initial setup page of MP, because VOL/CURR variables will be reset. |
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#ifndef _BOARD_STM32V1F4_H_ |
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#define _BOARD_STM32V1F4_H_ |
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/**
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* @brief Configuration of the Cortex-M4 Processor and Core Peripherals |
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*/ |
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#define __CM4_REV 0x0001 /*!< Core revision r0p1 */ |
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#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */ |
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#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */ |
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#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */ |
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#define __FPU_PRESENT 1 /*!< FPU present */ |
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#define HSE_VALUE (8000000) |
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#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000) |
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#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1) |
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#undef STM32_PCLK1 |
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#undef STM32_PCLK2 |
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#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4) |
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#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2) |
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#define BOARD_BUTTON_PIN 254 |
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#ifndef LOW |
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# define LOW 0 |
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#endif |
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#ifndef HIGH |
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# define HIGH 1 |
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#endif |
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#define BOARD_BUZZER_PIN PC13 |
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#define HAL_BUZZER_ON 0 |
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#define HAL_BUZZER_OFF 1 |
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#define BOARD_NR_USARTS 4 |
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#define BOARD_USART1_TX_PIN PA10 |
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#define BOARD_USART1_RX_PIN PA9 |
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//#define BOARD_USART2_TX_PIN PA2
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//#define BOARD_USART2_RX_PIN PA3 - used for PPM
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#define BOARD_USART3_TX_PIN PC11 |
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#define BOARD_USART3_RX_PIN PC10 |
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#define BOARD_USART4_TX_PIN PA0 |
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#define BOARD_USART4_RX_PIN PA1 |
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#define BOARD_USART5_RX_PIN PD2 |
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#define BOARD_USART5_TX_PIN PC12 |
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//#define BOARD_USART6_TX_PIN 255
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//#define BOARD_USART6_RX_PIN 255
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#define BOARD_HAS_UART3 |
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#define BOARD_DSM_USART _UART5 |
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// no inverter
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//#define BOARD_SBUS_INVERTER
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//#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input
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#define BOARD_NR_SPI 3 |
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#define BOARD_SPI1_SCK_PIN PA5 |
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#define BOARD_SPI1_MISO_PIN PA6 |
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#define BOARD_SPI1_MOSI_PIN PA7 |
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#define BOARD_SPI2_SCK_PIN PB13 |
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#define BOARD_SPI2_MISO_PIN PB14 |
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#define BOARD_SPI2_MOSI_PIN PB15 |
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#define BOARD_SPI3_SCK_PIN PB3 |
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#define BOARD_SPI3_MISO_PIN PB4 |
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#define BOARD_SPI3_MOSI_PIN PB5 |
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#define BOARD_MPU6000_CS_PIN PC2 |
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#define BOARD_MPU6000_DRDY_PIN PC3 |
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#define BOARD_USB_SENSE PB12 |
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#define I2C1_SDA PB7 |
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#define I2C1_SCL PB6 |
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// bus 2 (soft) pins
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//#define BOARD_SOFT_SCL 14
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//#define BOARD_SOFT_SDA 15
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// SoftSerial pins
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//#define BOARD_SOFTSERIAL_TX 14
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//#define BOARD_SOFTSERIAL_RX 15
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#define BOARD_BLUE_LED_PIN PB9 |
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#define BOARD_GREEN_LED_PIN PA14 |
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#define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN |
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#define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN |
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# define BOARD_LED_ON LOW |
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# define BOARD_LED_OFF HIGH |
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# define HAL_GPIO_LED_ON LOW |
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# define HAL_GPIO_LED_OFF HIGH |
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#define BOARD_NR_GPIO_PINS 109 |
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//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
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#define BOARD_I2C_BUS_EXT 0 // external I2C
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#define BOARD_I2C_BUS_SLOW 0 // slow down bus with this number
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#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_I2C |
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#define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_EXT |
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#define HAL_BARO_BMP280_I2C_ADDR (0x76) |
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#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843 |
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#define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define BOARD_COMPASS_HMC5843_ROTATION ROTATION_NONE |
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#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_EXT |
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#define HAL_COMPASS_HMC5843_I2C_ADDR BOARD_COMPASS_HMC5843_I2C_ADDR |
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#define HAL_COMPASS_HMC5843_ROTATION BOARD_COMPASS_HMC5843_ROTATION |
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#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI |
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#define BOARD_INS_ROTATION ROTATION_YAW_180 |
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#define BOARD_INS_MPU60x0_NAME "mpu6000" |
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#define BOARD_STORAGE_SIZE 8192 // 4096 // EEPROM size
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#define BOARD_SDCARD_NAME "sdcard" |
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#define BOARD_SDCARD_CS_PIN PC1 |
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//#define BOARD_SDCARD_DET_PIN 38 // PB7
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#define BOARD_HAS_SDIO |
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#define HAL_BOARD_LOG_DIRECTORY "0:/APM/LOGS" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "0:/APM/TERRAIN" |
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//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
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#define USB_MASSSTORAGE |
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#define BOARD_OSD_NAME "osd" |
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#define BOARD_OSD_CS_PIN PB10 |
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//#define BOARD_OSD_VSYNC_PIN 9
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//#define BOARD_OSD_RESET_PIN 6
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/*
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#define DATAFLASH_CS_PIN PC0 |
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#define BOARD_DATAFLASH_NAME "dataflash" |
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#define BOARD_DATAFLASH_PAGES 0x10000 |
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#define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes
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*/ |
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#define BOARD_OWN_NAME "MatekF4_CTR" |
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# define BOARD_PUSHBUTTON_PIN 254 // no button
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# define BOARD_USB_MUX_PIN -1 // no mux
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# define BOARD_BATTERY_VOLT_PIN PC5 // Battery voltage
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# define BOARD_BATTERY_CURR_PIN PC4 // Battery current
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# define BOARD_SONAR_SOURCE_ANALOG_PIN PB1 // rssi PB1
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#define BOARD_USB_DMINUS 108 |
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE |
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#define BOARD_UARTS_LAYOUT 6 |
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#define SERVO_PIN_1 12 // PC6 S1
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#define SERVO_PIN_2 13 // PC7 S2
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#define SERVO_PIN_3 14 // PC8 S3
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#define SERVO_PIN_4 15 // PC9 S4
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#define SERVO_PIN_5 103 // PA15 S5
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#define SERVO_PIN_6 22 // PA8 S6
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#define MOTOR_LAYOUT_DEFAULT 3 // Cleanflight
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#define HAL_CONSOLE USB_Driver // console on USB
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#define HAL_CONSOLE_PORT 0 |
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/*
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// @Param: USB_STORAGE
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// @DisplayName: allows access to SD card at next reboot
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// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
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// @Values: 0:normal, 1:work as USB flash drive
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// @User: Advanced
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AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
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// @Param: SD_REFORMAT
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// @DisplayName: Allows to re-format SD card in case of errors in FS
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// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
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// @Values: 0: not allow, 1:allow
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// @User: Advanced
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AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0), |
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*/ |
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#define BOARD_HAL_VARINFO \ |
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AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
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AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0), |
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// parameters
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#define BOARD_HAL_PARAMS \ |
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AP_Int8 _usb_storage; \
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AP_Int8 _sd_format;
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#endif |
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#!/bin/sh |
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#production binary for bootloader |
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dfu-util -a 0 --dfuse-address 0x08010000:unprotect:force -D ../../../../../ArduCopter/f4light_MatekF405_CTR.bin -R |
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#!/bin/sh |
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# production binary with bootloader |
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# production binary without bootloader |
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#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 |
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#bare metal binary |
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/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m |
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#bare metal binary or binary with bootloader |
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/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_MatekF405_CTR.bin 0x08010000 && \ |
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/usr/local/stlink/st-util -m |
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#!/bin/sh |
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/usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_MatekF405_CTR.bin 0x08010000 && \ |
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/usr/local/stlink/st-util -m |
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#!/bin/sh |
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# production binary without bootloader |
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#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 |
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#bare metal binary or binary with bootloader |
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/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ |
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/usr/local/stlink/st-flash --reset write ../../../../../../ArduCopter/f4light_MatekF405_CTR_bl.bin 0x08000000 && \ |
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/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \ |
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/usr/local/stlink/st-util -m |
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#!/bin/sh |
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# production binary with bootloader |
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#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 |
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#bare metal binary |
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/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ |
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/usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_MatekF405_CTR_bl.bin 0x08000000 |
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/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 |
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/usr/local/stlink/st-util -m |
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@@ -1,2 +0,0 @@
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port is not completed |
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#ifndef _BOARD_STM32V1F4_H_ |
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#define _BOARD_STM32V1F4_H_ |
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/**
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* @brief Configuration of the Cortex-M4 Processor and Core Peripherals |
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*/ |
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#define __CM4_REV 0x0001 /*!< Core revision r0p1 */ |
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#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */ |
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#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */ |
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#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */ |
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#define __FPU_PRESENT 1 /*!< FPU present */ |
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#define HSE_VALUE (8000000) |
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#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000) |
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#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1) |
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#undef STM32_PCLK1 |
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#undef STM32_PCLK2 |
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#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4) |
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#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2) |
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#define BOARD_BUTTON_PIN 254 |
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#ifndef LOW |
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# define LOW 0 |
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#endif |
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#ifndef HIGH |
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# define HIGH 1 |
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#endif |
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#define BOARD_BUZZER_PIN 19 |
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#define BOARD_NR_USARTS 5 |
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#define BOARD_USART1_TX_PIN 23 |
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#define BOARD_USART1_RX_PIN 24 |
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#define BOARD_USART3_TX_PIN 16 |
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#define BOARD_USART3_RX_PIN 17 |
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#define BOARD_USART2_RX_PIN 50 |
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#define BOARD_USART2_TX_PIN 49 |
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#define BOARD_USART4_RX_PIN 48 |
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#define BOARD_USART4_TX_PIN 47 |
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#define BOARD_USART5_RX_PIN 26 |
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#define BOARD_USART5_TX_PIN 18 |
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#define BOARD_USART6_TX_PIN 255 |
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#define BOARD_USART6_RX_PIN 255 |
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#define BOARD_DSM_USART (_USART2) |
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#define BOARD_NR_SPI 3 |
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#define BOARD_SPI1_SCK_PIN 52 // PA5
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#define BOARD_SPI1_MISO_PIN 53 // PA6
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#define BOARD_SPI1_MOSI_PIN 54 // PA7
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#define BOARD_SPI2_SCK_PIN 3 // PB13
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#define BOARD_SPI2_MISO_PIN 4 // PB14
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#define BOARD_SPI2_MOSI_PIN 5 // PB15
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#define BOARD_SPI3_SCK_PIN 104 // PB3
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#define BOARD_SPI3_MISO_PIN 105 // PB4
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#define BOARD_SPI3_MOSI_PIN 36 // PB5
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#define BOARD_MPU6000_CS_PIN 8 // PC2
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#define BOARD_MPU6000_DRDY_PIN 9 // PC3
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#define BOARD_SBUS_INVERTER |
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#define BOARD_USB_SENSE 2 //
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// bus 2 (soft) pins
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#define BOARD_SOFT_SCL 14 |
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#define BOARD_SOFT_SDA 15 |
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// SoftSerial pins
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//#define BOARD_SOFTSERIAL_TX 14
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//#define BOARD_SOFTSERIAL_RX 15
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# define BOARD_BLUE_LED_PIN 25 // PB9
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# define BOARD_GREEN_LED_PIN 107 // PA14
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# define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN |
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# define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN |
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# define BOARD_LED_ON LOW |
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# define BOARD_LED_OFF HIGH |
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# define HAL_LED_ON LOW |
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# define HAL_LED_OFF HIGH |
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#define BOARD_NR_GPIO_PINS 109 |
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#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
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//#define BOARD_I2C_BUS_EXT 1 // external I2C
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#define BOARD_I2C_BUS_SLOW 1 // slow down bus with this number
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#define BOARD_I2C1_DISABLE // lots of drivers tries to scan all buses, spoiling device setup
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#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_SPI |
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#define HAL_BARO_BMP280_NAME "bmp280" |
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#define BOARD_BMP280_CS_PIN 104 |
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#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843 |
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#define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define BOARD_COMPASS_HMC5843_ROTATION ROTATION_NONE |
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#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_INT |
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#define HAL_COMPASS_HMC5843_I2C_ADDR BOARD_COMPASS_HMC5843_I2C_ADDR |
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#define HAL_COMPASS_HMC5843_ROTATION BOARD_COMPASS_HMC5843_ROTATION |
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#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI |
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#define BOARD_INS_ROTATION ROTATION_YAW_270 |
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#define BOARD_INS_MPU60x0_NAME "mpu6000" |
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#define BOARD_STORAGE_SIZE 8192 // 4096 // EEPROM size
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#define BOARD_SDCARD_NAME "sdcard" |
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#define BOARD_SDCARD_CS_PIN 7 |
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//#define BOARD_SDCARD_DET_PIN 38 // PB7
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#define BOARD_HAS_SDIO |
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#define HAL_BOARD_LOG_DIRECTORY "0:/APM/LOGS" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "0:/APM/TERRAIN" |
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//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
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#define USB_MASSSTORAGE |
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#define BOARD_OSD_NAME "osd" |
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#define BOARD_OSD_CS_PIN 0 |
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//#define BOARD_OSD_VSYNC_PIN 9
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//#define BOARD_OSD_RESET_PIN 6
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#define BOARD_OWN_NAME "MatekF4_OSD" |
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# define BOARD_PUSHBUTTON_PIN 254 |
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# define BOARD_USB_MUX_PIN -1 |
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# define BOARD_BATTERY_VOLT_PIN 11 // Battery voltage on C5
|
||||
# define BOARD_BATTERY_CURR_PIN 10 // Battery current on C4
|
||||
# define BOARD_SONAR_SOURCE_ANALOG_PIN 45 // rssi
|
||||
|
||||
#define BOARD_USB_DMINUS 108 |
||||
|
||||
#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE |
||||
|
||||
#define BOARD_UARTS_LAYOUT 6 |
||||
|
||||
// use soft I2C driver instead hardware
|
||||
//#define BOARD_SOFT_I2C
|
||||
|
||||
#define SERVO_PIN_1 12 // PC6
|
||||
#define SERVO_PIN_2 13 // PC7
|
||||
#define SERVO_PIN_3 14 // PC8
|
||||
#define SERVO_PIN_4 15 // PC9
|
||||
#define SERVO_PIN_5 103 // PA15
|
||||
#define SERVO_PIN_6 22 // PA8
|
||||
|
||||
#if 1 |
||||
#define HAL_CONSOLE USB_Driver // console on USB
|
||||
#define HAL_CONSOLE_PORT 0 |
||||
#else |
||||
#define HAL_CONSOLE uart1Driver // console on radio
|
||||
#define HAL_CONSOLE_PORT 1 |
||||
#endif |
||||
|
||||
/*
|
||||
|
||||
|
||||
// @Param: USB_STORAGE
|
||||
// @DisplayName: allows access to SD card at next reboot
|
||||
// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
|
||||
// @Values: 0:normal, 1:work as USB flash drive
|
||||
// @User: Advanced
|
||||
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
|
||||
|
||||
// @Param: SD_REFORMAT
|
||||
// @DisplayName: Allows to re-format SD card in case of errors in FS
|
||||
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
|
||||
// @Values: 0: not allow, 1:allow
|
||||
// @User: Advanced
|
||||
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0), |
||||
|
||||
*/ |
||||
#define BOARD_HAL_VARINFO \ |
||||
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
|
||||
AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0), |
||||
|
||||
|
||||
// parameters
|
||||
#define BOARD_HAL_PARAMS \ |
||||
AP_Int8 _usb_storage; \
|
||||
AP_Int8 _sd_format;
|
||||
#endif |
||||
|
||||
|
||||
@ -1,12 +0,0 @@
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh |
||||
|
||||
#production binary for bootloader |
||||
#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin |
||||
|
||||
# bare metal binary |
||||
|
||||
#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin |
||||
#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R |
||||
|
||||
dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_AirbotV2.bin -R |
||||
|
||||
Loading…
Reference in new issue