| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123 |
- # hw definition file for processing by chibios_pins.py
- # for crazyflie2.0 hardware (see bitcraze.io)
- # MCU class and specific type
- MCU STM32F4xx STM32F405xx
- # board ID for firmware load
- APJ_BOARD_ID 12
- define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_CRAZYFLIE2
- # crystal frequency
- OSCILLATOR_HZ 8000000
- STM32_PLLM_VALUE 8
- define STM32_ST_USE_TIMER 5
- FLASH_SIZE_KB 1024
- # board voltage
- STM32_VDD 330U
- # use USB for stdout
- #STDOUT_SERIAL SD3
- #STDOUT_BAUDRATE 57600
- # usart2
- PA2 USART2_TX USART2 # E_TX2
- PA3 USART2_RX USART2 # E_RX2
- # external SPI on SPI1
- PA5 SPI1_SCK SPI1 # E_SCK
- PA6 SPI1_MISO SPI1 # E_MISO
- PA7 SPI1_MOSI SPI1 # E_MOSI
- # I2C3 is for IMU
- PA8 I2C3_SCL I2C3
- PC9 I2C3_SDA I2C3
- # USB port
- PA10 USB_ID INPUT
- PA11 OTG_FS_DM OTG1
- PA12 OTG_FS_DP OTG1
- # stlink/jtag
- PA13 JTMS-SWDIO SWD
- PA14 JTCK-SWCLK SWD
- PA1 TIM2_CH2 TIM2 PWM(1) # front-right
- PB11 TIM2_CH4 TIM2 PWM(4) # rear-right
- PA15 TIM2_CH1 TIM2 PWM(2) # rear-left
- PB9 TIM4_CH4 TIM4 PWM(3) # front-left
- PC13 MPU_INT INPUT
- PC14 MPU_FSYNC OUTPUT LOW
- # LEDs
- PD2 LED_BLUE OUTPUT HIGH
- PC0 LED_RED_L OUTPUT HIGH
- PC1 LED_GREEN_L OUTPUT HIGH
- PC2 LED_GREEN_R OUTPUT HIGH
- PC3 LED_RED_R OUTPUT HIGH
- # misc pins, unused
- #PH0 OSC_IN
- #PH1 OSC_OUT
- #PB2 BOOT1
- # PB3 STM_SWO
- # CS pins for external SPI devices
- PC12 E_CS0 CS
- PB4 E_CS1 CS
- PB5 E_CS2 CS
- PB8 E_CS3 CS
- # external I2C on I2C1
- PB6 I2C1_SCL I2C1 # E_SCL
- PB7 I2C1_SDA I2C1 # E_SCL
- # radio setup
- PA4 NRF_FLOW_CTRL INPUT # goes low when we can write to uart
- #PB13 NRF_SWCLK
- #PB15 NRF_SWIO
- PC6 USART6_TX USART6 # NRF_RT
- PC7 USART6_RX USART6 # NRF_RX
- # USART3 for telemetry
- PC10 USART3_TX USART3 # E_TX1
- PC11 USART3_RX USART3 # E_RX1
- # setup I2C order
- I2C_ORDER I2C3 I2C1
- # we need I2C clock at 400kHz for IMU
- define HAL_I2C_MAX_CLOCK 400000
- # order of UARTs (and USB)
- UART_ORDER OTG1 USART2 USART3 USART6
- define HAL_STORAGE_SIZE 15360
- define STORAGE_FLASH_PAGE 1
- # reserve 32k for bootloader and 32k for flash storage
- FLASH_RESERVE_START_KB 64
- # one IMU
- IMU Invensense I2C:0:0x69 ROTATION_YAW_180
- # one baro, attached via I2C on IMU
- BARO LPS2XH:probe_InvensenseIMU I2C:0:0x5D 0x69
- # no built-in compass, but probe the i2c bus for all possible
- # external compass types
- define ALLOW_ARM_NO_COMPASS
- define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
- define HAL_PROBE_EXTERNAL_I2C_COMPASSES
- define HAL_I2C_INTERNAL_MASK 0
- define HAL_COMPASS_AUTO_ROT_DEFAULT 2
- define MAG_BOARD_ORIENTATION ROTATION_YAW_180
- # no ADC pins
- define HAL_USE_ADC FALSE
|
