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215 lines
5.1 KiB
215 lines
5.1 KiB
# hw definition file for processing by chibios_pins.py |
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# for Matek F765-Wing |
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# MCU class and specific type |
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MCU STM32F7xx STM32F767xx |
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# board ID for firmware load |
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APJ_BOARD_ID 143 |
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# crystal frequency, setup to use external oscillator |
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OSCILLATOR_HZ 8000000 |
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FLASH_SIZE_KB 2048 |
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# leave 2 sectors free |
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FLASH_RESERVE_START_KB 96 |
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STM32_ST_USE_TIMER 12 |
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define CH_CFG_ST_RESOLUTION 16 |
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# two I2C bus |
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I2C_ORDER I2C2 I2C1 |
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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 UART5 |
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# tonealarm support |
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PB9 TIM11_CH1 TIM11 GPIO(32) ALARM |
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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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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# SPI1 for IMU1 (MPU6000) |
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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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PC4 IMU1_CS CS |
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# SPI2 for MAX7456 OSD |
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PB12 MAX7456_CS CS |
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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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# SPI3 for IMU2 (ICM20602) |
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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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PD7 IMU2_CS CS |
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# SPI4 |
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PE11 SPARE_CS CS |
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PE12 SPI4_SCK SPI4 |
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PE13 SPI4_MISO SPI4 |
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PE14 SPI4_MOSI SPI4 |
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# I2C1 |
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PB6 I2C1_SCL I2C1 |
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PB7 I2C1_SDA I2C1 |
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# I2C2 |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PC3 BATT_CURRENT_SENS ADC1 SCALE(1) |
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PA4 BATT_VOLTAGE_SENS2 ADC1 SCALE(1) # analog pin4 |
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PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1) # analog pin15 |
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PC0 PRESSURE_SENS ADC1 SCALE(2) |
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define HAL_DEFAULT_AIRSPEED_PIN 10 |
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# define default battery setup |
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define HAL_BATT_MONITOR_DEFAULT 4 |
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define HAL_BATT_VOLT_PIN 12 |
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define HAL_BATT_CURR_PIN 13 |
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define HAL_BATT_VOLT_SCALE 11 |
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define HAL_BATT_CURR_SCALE 40 |
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define HAL_BATT2_VOLT_PIN 4 |
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define HAL_BATT2_CURR_PIN 15 |
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# analog RSSI |
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PC1 RSSI_ADC ADC1 |
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define BOARD_RSSI_ANA_PIN 11 |
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PD10 LED0 OUTPUT LOW GPIO(90) # blue |
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PD11 LED1 OUTPUT LOW GPIO(91) # green |
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define HAL_GPIO_A_LED_PIN 91 |
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define HAL_GPIO_B_LED_PIN 90 |
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define HAL_GPIO_LED_OFF 1 |
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# USART1 (telem2) |
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PA10 USART1_RX USART1 |
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PA9 USART1_TX USART1 |
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# USART2 (GPS1) |
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PD5 USART2_TX USART2 NODMA |
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PD6 USART2_RX USART2 NODMA |
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# USART3 (GPS2) |
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PD9 USART3_RX USART3 NODMA |
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PD8 USART3_TX USART3 NODMA |
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# UART4 (disable if used for CAN) |
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PD1 UART4_TX UART4 NODMA |
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PD0 UART4_RX UART4 NODMA |
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# UART5 (RX only, for ESC telem) |
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PB8 UART5_RX UART5 NODMA |
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# USART6 (RC input), SERIAL7 |
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW |
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PC6 USART6_TX USART6 NODMA |
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# as an alternative config setup the RX6 pin as an uart. This allows |
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# for bi-directional UART based receiver protocols such as FPort |
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# without any extra hardware |
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PC7 USART6_RX USART6 NODMA ALT(1) |
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PC7 USART6_RX USART6 NODMA ALT(3) |
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# UART7 (telem1) |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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PE10 UART7_CTS UART7 |
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PE9 UART7_RTS UART7 |
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# telem1-UART7 RTS and CTS as GPIO in alternative configs |
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PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(2) # Cts7 pin as GPIO 1 (set RELAY_PINx = 1 to use it) |
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PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(2) # Rts7 pin as GPIO 2 (set RELAY_PINx = 2 to use it) |
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PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(3) # Cts7 pin as GPIO 1 (set RELAY_PINx = 1 to use it) |
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PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(3) # Rts7 pin as GPIO 2 (set RELAY_PINx = 2 to use it) |
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# alternative configs: |
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# 1: bidirectional receiver protocol on RX6 pin |
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# 2: extra GPIOs instead of Cts/Rts on UART7_CTS |
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# 3: both 1 and 2 combined, GPIO numbers differ to avoid "Duplicate GPIO value" error while generating hwdef.h |
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# UART8 (spare) |
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PE0 UART8_RX UART8 NODMA |
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PE1 UART8_TX UART8 NODMA |
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# CAN bus (disabled as used for UART4) |
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#PD1 CAN1_TX CAN1 |
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#PD0 CAN1_RX CAN1 |
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# Motors |
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) |
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51) |
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) |
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) |
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PB0 TIM8_CH2N TIM8 PWM(5) GPIO(54) |
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PB1 TIM8_CH3N TIM8 PWM(6) GPIO(55) |
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) |
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) |
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) |
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) |
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PE5 TIM9_CH1 TIM9 PWM(11) GPIO(60) NODMA |
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PE6 TIM9_CH2 TIM9 PWM(12) GPIO(61) NODMA |
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PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED |
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# microSD support |
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PC8 SDMMC_D0 SDMMC1 |
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PC9 SDMMC_D1 SDMMC1 |
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PC10 SDMMC_D2 SDMMC1 |
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PC11 SDMMC_D3 SDMMC1 |
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PC12 SDMMC_CK SDMMC1 |
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PD2 SDMMC_CMD SDMMC1 |
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# GPIOs |
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PE4 PINIO1 OUTPUT GPIO(81) LOW |
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PE15 PINIO2 OUTPUT GPIO(82) LOW |
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DMA_PRIORITY S* |
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define HAL_STORAGE_SIZE 16384 |
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STORAGE_FLASH_PAGE 1 |
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# spi devices |
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SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ |
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SPIDEV icm20602 SPI3 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ |
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ |
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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_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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# two IMUs. We put icm20602 first as we can sample accel at 4kHz |
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IMU Invensense SPI:icm20602 ROTATION_PITCH_180 |
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IMU Invensense SPI:mpu6000 ROTATION_ROLL_180 |
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define HAL_DEFAULT_INS_FAST_SAMPLE 1 |
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# one BARO, multiple possible choices for different |
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# board variants |
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BARO BMP280 I2C:0:0x76 |
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BARO DPS310 I2C:0:0x76 |
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BARO MS56XX I2C:0:0x77 |
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define HAL_OS_FATFS_IO 1 |
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" |
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" |
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# setup for OSD |
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define OSD_ENABLED 1 |
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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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