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123 lines
2.4 KiB
123 lines
2.4 KiB
# hw definition file for processing by chibios_pins.py |
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# for crazyflie2.0 hardware (see bitcraze.io) |
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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 12 |
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_CRAZYFLIE2 |
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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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FLASH_SIZE_KB 1024 |
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# board voltage |
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STM32_VDD 330U |
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# use USB for stdout |
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#STDOUT_SERIAL SD3 |
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#STDOUT_BAUDRATE 57600 |
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# usart2 |
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PA2 USART2_TX USART2 # E_TX2 |
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PA3 USART2_RX USART2 # E_RX2 |
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# external SPI on SPI1 |
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PA5 SPI1_SCK SPI1 # E_SCK |
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PA6 SPI1_MISO SPI1 # E_MISO |
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PA7 SPI1_MOSI SPI1 # E_MOSI |
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# I2C3 is for IMU |
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PA8 I2C3_SCL I2C3 |
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PC9 I2C3_SDA I2C3 |
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# USB port |
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PA10 USB_ID INPUT |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# stlink/jtag |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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PA1 TIM2_CH2 TIM2 PWM(1) # front-right |
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PB11 TIM2_CH4 TIM2 PWM(4) # rear-right |
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PA15 TIM2_CH1 TIM2 PWM(2) # rear-left |
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PB9 TIM4_CH4 TIM4 PWM(3) # front-left |
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PC13 MPU_INT INPUT |
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PC14 MPU_FSYNC OUTPUT LOW |
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# LEDs |
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PD2 LED_BLUE OUTPUT HIGH |
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PC0 LED_RED_L OUTPUT HIGH |
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PC1 LED_GREEN_L OUTPUT HIGH |
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PC2 LED_GREEN_R OUTPUT HIGH |
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PC3 LED_RED_R OUTPUT HIGH |
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# misc pins, unused |
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#PH0 OSC_IN |
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#PH1 OSC_OUT |
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#PB2 BOOT1 |
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# PB3 STM_SWO |
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# CS pins for external SPI devices |
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PC12 E_CS0 CS |
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PB4 E_CS1 CS |
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PB5 E_CS2 CS |
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PB8 E_CS3 CS |
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# external I2C on I2C1 |
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PB6 I2C1_SCL I2C1 # E_SCL |
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PB7 I2C1_SDA I2C1 # E_SCL |
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# radio setup |
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PA4 NRF_FLOW_CTRL INPUT # goes low when we can write to uart |
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#PB13 NRF_SWCLK |
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#PB15 NRF_SWIO |
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PC6 USART6_TX USART6 # NRF_RT |
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PC7 USART6_RX USART6 # NRF_RX |
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# USART3 for telemetry |
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PC10 USART3_TX USART3 # E_TX1 |
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PC11 USART3_RX USART3 # E_RX1 |
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# setup I2C order |
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I2C_ORDER I2C3 I2C1 |
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# we need I2C clock at 400kHz for IMU |
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define HAL_I2C_MAX_CLOCK 400000 |
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# order of UARTs (and USB) |
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UART_ORDER OTG1 USART2 USART3 USART6 |
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define HAL_STORAGE_SIZE 15360 |
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define STORAGE_FLASH_PAGE 1 |
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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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# one IMU |
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IMU Invensense I2C:0:0x69 ROTATION_YAW_180 |
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# one baro, attached via I2C on IMU |
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BARO LPS2XH:probe_InvensenseIMU I2C:0:0x5D 0x69 |
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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 0 |
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2 |
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define MAG_BOARD_ORIENTATION ROTATION_YAW_180 |
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# no ADC pins |
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define HAL_USE_ADC FALSE
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