diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/defaults.parm new file mode 100755 index 0000000000000..4e8d3296ef2aa --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/defaults.parm @@ -0,0 +1,2 @@ +# setup for LEDs on chan9 +SERVO9_FUNCTION 120 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/hwdef-bl.dat new file mode 100755 index 0000000000000..96626d4a0897a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/hwdef-bl.dat @@ -0,0 +1,33 @@ +# hw definition file for processing by chibios_pins.py +# Boot loader + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board id +APJ_BOARD_ID AP_HW_AOCODA-RC-F405V3 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# installed at zero offset +FLASH_RESERVE_START_KB 0 + +FLASH_SIZE_KB 1024 + +# the location where the will put the firmware +FLASH_BOOTLOADER_LOAD_KB 64 + +PC13 LED_BOOTLOADER OUTPUT LOW GPIO(0) +define HAL_LED_ON 0 + +#PB8 BUZZER OUTPUT LOW PULLDOWN + +STM32_VDD 330U + +SERIAL_ORDER OTG1 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PB8 BUZZER OUTPUT LOW PULLDOWN diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/hwdef.dat new file mode 100755 index 0000000000000..313e9e65c9394 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V3-Flash/hwdef.dat @@ -0,0 +1,220 @@ +# hw definition file for processing by chibios_pins.py +# Aocoda-RC-F405V3 ICM42688P/MPU6000 + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_AOCODA-RC-F405V3 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +# flash size +FLASH_SIZE_KB 1024 + +# reserve 16k for bootloader, 16k for OSD and 32k for flash storage +FLASH_RESERVE_START_KB 64 + +define HAL_STORAGE_SIZE 15360 +define STORAGE_FLASH_PAGE 1 + +# ChibiOS system timer +define STM32_ST_USE_TIMER 5 +define CH_CFG_ST_RESOLUTION 32 + +# USB setup +USB_STRING_MANUFACTURER "Aocoda-RC-F405V3-Flash" + +# Now we define the pins that USB is connected on. +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# OTG USB VBUS +PB12 VBUS INPUT OPENDRAIN + +# IMU SPI +PA4 MPU_CS CS +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# OSD SPI +PA13 OSD_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# FLASH SPI +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB5 SPI3_MOSI SPI3 +PC0 FLASH_CS CS +#PC0 SDCARD_CS CS + +# I2C Buses +I2C_ORDER I2C1 + +# I2C1 +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# ADC for Power +PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) + +# PC1 = IN11 PC2 = IN12 +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 12 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_VOLT_SCALE 11 +define HAL_BATT_CURR_SCALE 55 + +# ADC for RSSI +# PC3 - ADC123_IN13 +define BOARD_RSSI_ANA_PIN 13 +PC3 RSSI_ADC_PIN ADC1 SCALE(1) + +# Define a LED, mapping it to GPIO. LOW will illuminate the LED +# blue LED0 marked as ACT +# green LED1 marked as B/E +PC13 LED_BLUE OUTPUT LOW GPIO(1) +define HAL_GPIO_A_LED_PIN 1 +#define HAL_GPIO_B_LED_PIN 2 + +# The normal usage of this ordering is: +# 1) SERIAL0: console (primary mavlink, usually USB) +# 2) SERIAL1: GPS +# 3) SERIAL2: RC input +# 4) SERIAL3: ESC Telemetry +# 5) SERIAL4: VTX +# 6) SERIAL5: ESP32-C3 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 + +# USART1 (GPS), SERIAL1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS + +# USART2 (RC input), SERIAL2 +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# used for SBUS/PPM etc. +PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW ALT(1) + +# USART3 (ESC Telemetry), SERIAL3 +PC10 USART3_TX USART3 +PC11 USART3_RX USART3 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_ESCTelemetry + +# UART4 (VTX), SERIAL4 +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_DJI_FPV + +# UART5 (spare), SERIAL5 +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 +#define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MSP + +# Motors +#pwm output +PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50) +PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51) BIDIR +PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52) +PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53) BIDIR +PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) +PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55) +PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) +PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57) + +# LED stripe +PB1 TIM3_CH4 TIM3 PWM(9) GPIO(58) + +# PWM output for buzzer/Beeper +#PB8 TIM4_CH3 TIM4 GPIO(80) ALARM PULLDOWN LOW +PB8 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 +define HAL_BUZZER_ON 1 +define HAL_BUZZER_OFF 0 + +# GPIOs for 9V DCDC control (HIGH:on; LOW:off) +PC5 PINIO1 OUTPUT GPIO(81) HIGH + +# GPIOs for Bluetooth control (HIGH:on; LOW:off) +PA14 PINIO2 OUTPUT GPIO(82) HIGH + +# GPIOs for CAM1/CAM2 control (HIGH:CAM2; LOW:CAM1) +PC15 PINIO3 OUTPUT GPIO(83) LOW + +# IMU ICM42688P/MPU6000 on SPI +SPIDEV icm42688 SPI1 DEVID1 MPU_CS MODE3 2*MHZ 16*MHZ +SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ + +# OSD on SPI +SPIDEV osd SPI2 DEVID1 OSD_CS MODE0 10*MHZ 10*MHZ + +# FLASH on SPI +SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ + +# SDCard +#SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ + +# IMU Direction +IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90 +IMU Invensense SPI:mpu6000 ROTATION_NONE + +# DPS310/BMP280 integrated on I2C2 bus, multiple possible choices for external barometer +BARO DPS310 I2C:0:0x76 +BARO BMP280 I2C:0:0x76 + +#no built in compass but enable for user +#allow arm without compass +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 + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin + + +# filesystem setup on sdcard +#define HAL_OS_FATFS_IO 1 +#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# enable logging to dataflash +define HAL_LOGGING_DATAFLASH_ENABLED 1 + +# support VTX IRC tramp protocol +#define AP_TRAMP_ENABLED 1 + +# disable SMBUS and fuel battery monitors to save flash +define HAL_BATTMON_SMBUS_ENABLE 0 +define HAL_BATTMON_FUEL_ENABLE 0 + +# disable parachute and sprayer to save flash +define HAL_PARACHUTE_ENABLED 0 +define HAL_SPRAYER_ENABLED 0 + +# reduce max size of embedded params for apj_tool.py +define AP_PARAM_MAX_EMBEDDED_PARAM 1024 +define HAL_WITH_DSP FALSE + +# save some flash +define HAL_GENERATOR_ENABLED 0 +define AC_OAPATHPLANNER_ENABLED 0 +define PRECISION_LANDING 0 +define HAL_BARO_WIND_COMP_ENABLED 0 +define GRIPPER_ENABLED 0 + +# minimal drivers to reduce flash usage +include ../include/minimize_common.inc