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.
136 lines
2.9 KiB
136 lines
2.9 KiB
# hw definition file for processing by chibios_pins.py |
|
# new SkyViper 2018 Journey |
|
|
|
MCU STM32F4xx STM32F412Rx |
|
|
|
# board ID for firmware load |
|
APJ_BOARD_ID 9 |
|
|
|
# crystal frequency |
|
OSCILLATOR_HZ 24000000 |
|
|
|
STM32_HSE_ENABLED FALSE |
|
STM32_PLLM_VALUE 16 |
|
STM32_PLLN_VALUE 384 |
|
STM32_PLLP_VALUE 4 |
|
STM32_PLLQ_VALUE 8 |
|
STM32_PLLSRC STM32_PLLSRC_HSI |
|
STM32_PREE1 STM32_PREE1_DIV2 |
|
STM32_PREE2 STM32_PREE2_DIV1 |
|
|
|
STM32_PWM_USE_TIM3 TRUE |
|
|
|
# board voltage |
|
STM32_VDD 330U |
|
|
|
# flash size |
|
FLASH_SIZE_KB 1024 |
|
|
|
# serial port for stdout |
|
STDOUT_SERIAL SD1 |
|
STDOUT_BAUDRATE 115200 |
|
|
|
# order of I2C buses |
|
I2C_ORDER I2C2 I2C1 |
|
|
|
# we need I2C clock at 400kHz for IMU |
|
define HAL_I2C_MAX_CLOCK 400000 |
|
|
|
# run I2C bus thread at high priority for IMU |
|
define APM_I2C_PRIORITY 181 |
|
|
|
# order of UARTs |
|
UART_ORDER USART1 USART6 USART2 |
|
|
|
PC0 MGND ADC1 |
|
PC1 PWM4_SENSE ADC1 |
|
PC2 PWM2_SENSE ADC1 |
|
PC3 PWM1_SENSE ADC1 |
|
PA0 PWM3_SENSE ADC1 |
|
|
|
# USART2 is for sonix |
|
PA2 USART2_TX USART2 |
|
PA3 USART2_RX USART2 |
|
|
|
# SPI1 is radio |
|
PA4 RADIO_CS CS |
|
PA5 SPI1_SCK SPI1 |
|
PA6 SPI1_MISO SPI1 |
|
PA7 SPI1_MOSI SPI1 |
|
PC4 RADIO_CE OUTPUT |
|
PC5 RADIO_PA_CTL OUTPUT |
|
PB0 RADIO_IRQ INPUT GPIO(100) |
|
PB1 BATT_MON ADC1 SCALE(11) |
|
PB2 BOOT1 INPUT |
|
PB10 I2C2_SCL I2C2 |
|
PA13 JTMS-SWDIO SWD |
|
PA14 JTCK-SWCLK SWD |
|
PB9 I2C1_SDA I2C1 |
|
PB8 I2C1_SCL I2C1 |
|
PB7 LEDF OUTPUT HIGH GPIO(0) |
|
PB6 LEDR OUTPUT HIGH GPIO(1) |
|
PB5 TIM3_CH2 TIM3 PWM(2) # marked CN15 front-right |
|
PB3 I2C2_SDA I2C2 |
|
PD2 OF_MOTION INPUT |
|
PB4 OF_RESET OUTPUT HIGH |
|
|
|
# USART6 is for GPS |
|
PA11 USART6_TX USART6 |
|
PC7 USART6_RX USART6 |
|
|
|
# USART1 is for debug console |
|
PA10 USART1_RX USART1 |
|
PA9 USART1_TX USART1 |
|
|
|
PC9 TIM3_CH4 TIM3 PWM(4) # marked CN17, rear-right |
|
PC8 TIM3_CH3 TIM3 PWM(3) # marked CN13, rear-left |
|
PC6 TIM3_CH1 TIM3 PWM(1) # marked CN3, front-left |
|
|
|
# SPI2 is optical flow |
|
PB15 SPI2_MOSI SPI2 |
|
PB14 SPI2_MISO SPI2 |
|
PB13 SPI2_SCK SPI2 |
|
PB12 FLOW_CS CS |
|
|
|
# SPI Device table |
|
SPIDEV cypress SPI1 DEVID1 RADIO_CS MODE0 2*MHZ 2*MHZ |
|
SPIDEV cc2500 SPI1 DEVID1 RADIO_CS MODE0 4*MHZ 4*MHZ |
|
SPIDEV pixartflow SPI2 DEVID2 FLOW_CS MODE3 2*MHZ 2*MHZ |
|
|
|
# reserve 16k for bootloader and 32k for storage |
|
FLASH_RESERVE_START_KB 48 |
|
|
|
define HAL_CHIBIOS_ARCH_F412 1 |
|
|
|
IMU Invensense I2C:1:0x68 ROTATION_NONE |
|
|
|
# radio IRQ is on GPIO(100) |
|
define HAL_GPIO_RADIO_IRQ 100 |
|
|
|
define HAL_RCINPUT_WITH_AP_RADIO 1 |
|
define STORAGE_FLASH_PAGE 1 |
|
define HAL_STORAGE_SIZE 15360 |
|
|
|
# setup defines for ArduCopter config |
|
define TOY_MODE_ENABLED ENABLED |
|
define ARMING_DELAY_SEC 0 |
|
define LAND_START_ALT 700 |
|
define LAND_DETECTOR_ACCEL_MAX 2.0f |
|
define ALLOW_ARM_NO_COMPASS |
|
|
|
define CHIBIOS_ADC_MAVLINK_DEBUG 1 |
|
|
|
COMPASS BMM150 I2C:0:0x10 ROTATION_NONE |
|
|
|
define HAL_BARO_DEFAULT HAL_BARO_20789_I2C_I2C |
|
define HAL_BARO_20789_I2C_BUS 1 |
|
define HAL_BARO_20789_I2C_ADDR_PRESS 0x63 |
|
define HAL_BARO_20789_I2C_ADDR_ICM 0x68 |
|
|
|
# unstick 20789 on I2C on boot |
|
define HAL_I2C_CLEAR_BUS |
|
|
|
env DEFINES CONFIG_HAL_BOARD_SUBTYPE='HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412' |
|
|
|
# the web UI uses an abin file for firmware uploads |
|
env BUILD_ABIN True
|
|
|