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- # hw definition file for processing by chibios_pins.py
- # Omnibus F4 V6
- # with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, no flash log storage
-
- # MCU class and specific type
- MCU STM32F4xx STM32F405xx
- # board ID for firmware load
- APJ_BOARD_ID 137
- # crystal frequency
- OSCILLATOR_HZ 8000000
- STM32_PLLM_VALUE 8
- # board voltage
- STM32_VDD 330U
- # ChibiOS system timer
- STM32_ST_USE_TIMER 5
- # flash size
- FLASH_SIZE_KB 1024
- FLASH_RESERVE_START_KB 64
- # order of I2C buses
- I2C_ORDER I2C1
- # order of UARTs
- UART_ORDER OTG1 USART6 USART1 UART4 USART3
- #PINS
- PA10 USART1_RX USART1
- PA9 USART1_TX USART1
- PC6 USART6_TX USART6
- PC7 USART6_RX USART6
- PB10 USART3_TX USART3
- PB11 USART3_RX USART3
- # UART4 (only RX) #"TX" pin PA0 is used for RSSI_ADC_CHANNEL
- PA1 UART4_RX UART4
- #adc
- PC1 BAT_CURR_SENS ADC1 SCALE(1)
- PC2 BAT_VOLT_SENS ADC1 SCALE(1)
- PA0 RSSI_IN ADC1
- #pwm output # PWM out pins. Channel order (GPIOs) follows the ArduPilot motor
- # order conventions
- PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
- PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
- PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
- PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
- PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54)
- PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55)
- # spi bus for IMU
- PA5 SPI1_SCK SPI1
- PA6 SPI1_MISO SPI1
- PA7 SPI1_MOSI SPI1
- PC12 SPI3_MOSI SPI3
- PC11 SPI3_MISO SPI3
- PC10 SPI3_SCK SPI3
- # SPI2 for flash
- PB15 SPI2_MOSI SPI2
- PB14 SPI2_MISO SPI2
- PB13 SPI2_SCK SPI2
- PB12 FLASH_CS CS
- PA4 MPU6000_CS CS #SPI1_NSS
- PA15 OSD_CS CS #SPI3_NSS
- PB3 BMP280_CS CS #SPI3_NSS
- # note that this board needs PULLUP on I2C pins
- PB8 I2C1_SCL I2C1 PULLUP
- PB9 I2C1_SDA I2C1 PULLUP
- PA13 JTMS-SWDIO SWD
- PA14 JTCK-SWCLK SWD
- PA8 LED OUTPUT HIGH GPIO(41)
- #PB4 TIM3_CH1 TIM3 GPIO(70) ALARM
- PA11 OTG_FS_DM OTG1
- PA12 OTG_FS_DP OTG1
- PC5 VBUS INPUT OPENDRAIN
- # LED strip output pad used for RC input
- # timer 4 is free (not used for pwm)
- PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW
- #Omnibus F4 V3 and later had hw inverter on UART6
- #Overide it to use as GPS UART port
- #PC8 SBUS_INVERT_RX OUTPUT LOW
- #PC9 SBUS_INVERT_TX OUTPUT LOW
- ########### SPI Devices
- SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
- SPIDEV bmp280 SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
- SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
- SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
- # enable logging to dataflash
- define HAL_LOGGING_DATAFLASH
- # one IMU
- IMU Invensense SPI:mpu6000 ROTATION_YAW_90
- # one baro
- BARO BMP280 SPI:bmp280
- # 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 STORAGE_FLASH_PAGE 1
- define HAL_STORAGE_SIZE 15360
- # define default battery setup
- define HAL_BATT_VOLT_PIN 12
- define HAL_BATT_CURR_PIN 11
- define HAL_BATT_VOLT_SCALE 11
- define HAL_BATT_CURR_SCALE 18.2
- #analog rssi pin (also could be used as analog airspeed input)
- #PA0 - ADC123_CH0
- define BOARD_RSSI_ANA_PIN 0
- define HAL_GPIO_A_LED_PIN 41
- #To have complementary channels work we define this
- define STM32_PWM_USE_ADVANCED TRUE
- define BOARD_PWM_COUNT_DEFAULT 6
- define OSD_ENABLED ENABLED
- #font for the osd
- ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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