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164 lines
3.5 KiB
164 lines
3.5 KiB
# hw definition file for SpeedyBee F4 hardware |
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# tested on the Speedybee F4 board |
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# with thanks to betaflight for pinout |
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# MCU class and specific type |
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MCU STM32F4xx STM32F405xx |
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# board ID for firmware load |
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APJ_BOARD_ID 134 |
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# crystal frequency |
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OSCILLATOR_HZ 8000000 |
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STM32_PLLM_VALUE 8 |
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define STM32_ST_USE_TIMER 5 |
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#define CH_CFG_ST_RESOLUTION 16 |
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FLASH_SIZE_KB 1024 |
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# board voltage |
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STM32_VDD 330U |
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# only one I2C bus |
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I2C_ORDER I2C1 |
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# order of UARTs (and USB) |
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UART_ORDER OTG1 USART3 USART1 UART4 UART5 |
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# LEDs |
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PB9 LED_BLUE OUTPUT LOW GPIO(0) |
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PA14 LED_GREEN OUTPUT LOW GPIO(1) |
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define HAL_GPIO_A_LED_PIN 0 |
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define HAL_GPIO_B_LED_PIN 1 |
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# buzzer |
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PC13 BUZZER OUTPUT GPIO(80) LOW |
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define HAL_BUZZER_PIN 80 |
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define HAL_BUZZER_ON 1 |
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define HAL_BUZZER_OFF 0 |
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# spi1 bus for IMU |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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# spi2 for OSD |
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PB13 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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PB10 MAX7456_CS CS |
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# spi3 for sdcard and onboard flash |
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PB3 SPI3_SCK SPI3 |
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PB4 SPI3_MISO SPI3 |
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PB5 SPI3_MOSI SPI3 |
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PC0 FLASH_CS CS |
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PB11 MPU6000_CS CS |
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# only one I2C bus in normal config |
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PB6 I2C1_SCL I2C1 |
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PB7 I2C1_SDA I2C1 |
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# analog pins |
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PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1) |
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PC3 RSSI_ADC_PIN ADC1 SCALE(1) |
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# define default battery setup |
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define HAL_BATT_VOLT_PIN 12 |
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define HAL_BATT_CURR_PIN 11 |
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define HAL_BATT_VOLT_SCALE 11 |
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define HAL_BATT_CURR_SCALE 30.2 |
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#analog rssi pin (also could be used as analog airspeed input) |
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# PB1 - ADC12_CH9 |
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define BOARD_RSSI_ANA_PIN 13 |
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# USART1 |
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PA9 USART1_TX USART1 |
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PA10 USART1_RX USART1 |
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# USART2 (RCIN) |
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#PA2 USART3_TX USART3 |
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#PA3 USART3_RX USART3 |
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# rcinput |
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PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW |
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# USART3 |
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PC10 USART3_TX USART3 |
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PC11 USART3_RX USART3 |
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# UART4 |
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PA0 UART4_TX UART4 |
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PA1 UART4_RX UART4 |
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# UART5 |
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PD2 UART5_RX UART5 |
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PC12 UART5_TX UART5 |
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# PA10 IO-debug-console |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# USB detection |
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PB12 VBUS INPUT OPENDRAIN |
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# PWM out pins. Note that channel order follows the ArduPilot motor |
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# order conventions |
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PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50) |
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PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51) |
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PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52) |
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PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53) |
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PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) |
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PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55) |
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define HAL_STORAGE_SIZE 15360 |
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define STORAGE_FLASH_PAGE 2 |
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# reserve 32k for bootloader and 32k for flash storage |
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FLASH_RESERVE_START_KB 64 |
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define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI |
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define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 |
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# no built-in compass, but probe the i2c bus for all possible |
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# external compass types |
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define ALLOW_ARM_NO_COMPASS |
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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define HAL_I2C_INTERNAL_MASK 1 |
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2 |
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define HAL_PROBE_EXTERNAL_I2C_BAROS |
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define HAL_BARO_ALLOW_INIT_NO_BARO |
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define HAL_BARO_DEFAULT HAL_BARO_BMP085 |
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define HAL_BARO_BMP085_BUS 0 |
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define HAL_BARO_BMP085_I2C_ADDR 0x77 |
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# SPI devices |
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ |
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SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ |
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SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ |
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# enable logging to dataflash |
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define HAL_LOGGING_DATAFLASH |
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# 8 PWM available by default |
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define BOARD_PWM_COUNT_DEFAULT 8 |
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# uncomment the lines below to enable strict API |
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# checking in ChibiOS |
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#define CH_DBG_ENABLE_ASSERTS TRUE |
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#define CH_DBG_ENABLE_CHECKS TRUE |
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#define CH_DBG_SYSTEM_STATE_CHECK TRUE |
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#define CH_DBG_ENABLE_STACK_CHECK TRUE |
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# setup for OSD |
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define OSD_ENABLED ENABLED |
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define HAL_OSD_TYPE_DEFAULT 1 |
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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