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- # 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
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