You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
154 lines
3.2 KiB
154 lines
3.2 KiB
# hw definition file for processing by chibios_pins.py |
|
# Omnibus F4 V6 |
|
# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, no flash log storage |
|
|
|
|
|
# MCU class and specific type |
|
MCU STM32F4xx STM32F405xx |
|
|
|
# board ID for firmware load |
|
APJ_BOARD_ID 137 |
|
|
|
# crystal frequency |
|
OSCILLATOR_HZ 8000000 |
|
|
|
# ChibiOS system timer |
|
STM32_ST_USE_TIMER 5 |
|
|
|
# flash size |
|
FLASH_SIZE_KB 1024 |
|
FLASH_RESERVE_START_KB 64 |
|
|
|
# order of I2C buses |
|
I2C_ORDER I2C1 |
|
|
|
# order of UARTs |
|
|
|
SERIAL_ORDER OTG1 USART1 UART4 USART6 USART3 USART2 |
|
|
|
|
|
#PINS |
|
|
|
PA10 USART1_RX USART1 |
|
PA9 USART1_TX USART1 |
|
|
|
PC6 USART6_TX USART6 |
|
PC7 USART6_RX USART6 |
|
|
|
PB10 USART3_TX USART3 |
|
PB11 USART3_RX USART3 |
|
|
|
# UART4 (only RX) #"TX" pin PA0 is used for RSSI_ADC_CHANNEL |
|
PA1 UART4_RX UART4 |
|
|
|
# transmit only usart2, for telemetry output (eg. Hott telem) |
|
PA2 USART2_TX USART2 |
|
|
|
#adc |
|
PC1 BAT_CURR_SENS ADC1 SCALE(1) |
|
PC2 BAT_VOLT_SENS ADC1 SCALE(1) |
|
PA0 RSSI_IN ADC1 |
|
|
|
#pwm output # PWM out pins. Channel order (GPIOs) follows the ArduPilot motor |
|
# order conventions |
|
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50) |
|
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51) |
|
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) |
|
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53) |
|
|
|
PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) |
|
PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55) |
|
|
|
|
|
# spi bus for IMU |
|
PA5 SPI1_SCK SPI1 |
|
PA6 SPI1_MISO SPI1 |
|
PA7 SPI1_MOSI SPI1 |
|
|
|
|
|
PC12 SPI3_MOSI SPI3 |
|
PC11 SPI3_MISO SPI3 |
|
PC10 SPI3_SCK SPI3 |
|
|
|
# SPI2 for flash |
|
PB15 SPI2_MOSI SPI2 |
|
PB14 SPI2_MISO SPI2 |
|
PB13 SPI2_SCK SPI2 |
|
PB12 FLASH_CS CS |
|
|
|
PA4 MPU6000_CS CS #SPI1_NSS |
|
PA15 OSD_CS CS #SPI3_NSS |
|
PB3 BMP280_CS CS #SPI3_NSS |
|
|
|
|
|
# note that this board needs PULLUP on I2C pins |
|
PB8 I2C1_SCL I2C1 PULLUP |
|
PB9 I2C1_SDA I2C1 PULLUP |
|
|
|
|
|
PA13 JTMS-SWDIO SWD |
|
PA14 JTCK-SWCLK SWD |
|
|
|
PA8 LED OUTPUT HIGH GPIO(41) |
|
#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM |
|
|
|
PA11 OTG_FS_DM OTG1 |
|
PA12 OTG_FS_DP OTG1 |
|
PC5 VBUS INPUT OPENDRAIN |
|
|
|
# LED strip output pad used for RC input |
|
# timer 4 is free (not used for pwm) |
|
PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW |
|
|
|
#Omnibus F4 V3 and later had hw inverter on UART6 |
|
#Overide it to use as GPS UART port |
|
#PC8 SBUS_INVERT_RX OUTPUT LOW |
|
#PC9 SBUS_INVERT_TX OUTPUT LOW |
|
|
|
########### SPI Devices |
|
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ |
|
SPIDEV bmp280 SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ |
|
SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ |
|
SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ |
|
|
|
# enable logging to dataflash |
|
define HAL_LOGGING_DATAFLASH_ENABLED 1 |
|
|
|
# one IMU |
|
IMU Invensense SPI:mpu6000 ROTATION_YAW_90 |
|
|
|
# one baro |
|
BARO BMP280 SPI:bmp280 |
|
|
|
# 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 |
|
|
|
STORAGE_FLASH_PAGE 1 |
|
define HAL_STORAGE_SIZE 15360 |
|
|
|
|
|
# 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 |
|
|
|
#analog rssi pin (also could be used as analog airspeed input) |
|
#PA0 - ADC123_CH0 |
|
define BOARD_RSSI_ANA_PIN 0 |
|
|
|
define HAL_GPIO_A_LED_PIN 41 |
|
|
|
|
|
#To have complementary channels work we define this |
|
define STM32_PWM_USE_ADVANCED TRUE |
|
|
|
define OSD_ENABLED 1 |
|
#font for the osd |
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin |
|
|
|
# minimal drivers to reduce flash usage |
|
include ../include/minimal.inc
|
|
|