diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef-bl.dat index 58c9f1107f8392..02c82a4ee085a6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef-bl.dat @@ -16,7 +16,7 @@ FLASH_SIZE_KB 1024 FLASH_RESERVE_START_KB 0 # LEDs -PBC13 LED_BOOTLOADER OUTPUT LOW +PC13 LED_BOOTLOADER OUTPUT LOW define HAL_LED_ON 0 # the location where the bootloader will put the firmware @@ -30,7 +30,7 @@ PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # Add CS pins to ensure they are high in bootloader -PA4 ICM42688_SPI6_CS CS +PA4 ICM42688_CS CS PB12 MAX7456_CS CS PC14 SDCARD_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat index 5633e1cfb1a198..0e458b7d44c2df 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat @@ -12,25 +12,25 @@ APJ_BOARD_ID 1361 # crystal frequency OSCILLATOR_HZ 8000000 -define STM32_ST_USE_TIMER 4 +define STM32_ST_USE_TIMER 5 define CH_CFG_ST_RESOLUTION 16 FLASH_SIZE_KB 1024 - # only one I2C bus I2C_ORDER I2C1 -# order of UARTs (and USB) -SERIAL_ORDER OTG1 USART3 UART4 USART1 UART5 USART2 + +# Spare GPIO +PB11 PINIO OUTPUT HIGH GPIO(1) # LEDs -#define AP_NOTIFY_GPIO_LED_2_ENABLED 1 -#PB9 LED_BLUE OUTPUT LOW GPIO(0) -#PA14 LED_GREEN OUTPUT LOW GPIO(1) +PC13 LED0 OUTPUT HIGH GPIO(2) +define HAL_GPIO_A_LED_PIN 2 +define AP_NOTIFY_GPIO_LED_1_ENABLED 1 +define AP_NOTIFY_GPIO_LED_A_PIN 2 + -#define HAL_GPIO_A_LED_PIN 0 -#define HAL_GPIO_B_LED_PIN 1 # buzzer PC15 BUZZER OUTPUT GPIO(80) LOW @@ -43,6 +43,7 @@ PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA4 ICM42688_CS CS +PC4 ICM42688_INT INPUT PULLDOWN # spi2 for OSD PB13 SPI2_SCK SPI2 @@ -63,52 +64,50 @@ PB9 I2C1_SDA I2C1 # analog pins PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) -PC5 RSSI_ADC_PIN ADC1 SCALE(1) -# define default battery setup -# PC5 - ADC12_CH15 -define HAL_BATT_VOLT_PIN 15 -# PC4 - ADC12_CH14 -define HAL_BATT_CURR_PIN 14 +#analog rssi pin (also could be used as analog airspeed input) +PC5 RSSI_IN ADC1 SCALE(1) +define BOARD_RSSI_ANA_PIN 15 + +#define HAL_BATT_VOLT_PIN 10 +#define HAL_BATT_CURR_PIN 11 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 -#analog rssi pin (also could be used as analog airspeed input) -# PB1 - ADC12_CH9 -define BOARD_RSSI_ANA_PIN 9 -# USART1 +# USART1 (DJI) PA9 USART1_TX USART1 PA10 USART1_RX USART1 +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV -# RC input using timer -PB15 TIM12_CH2 TIM12 RCININT PULLDOWN - -# alternative RC input using UART -PA2 USART2_TX USART2 NODMA -PA3 USART2_RX USART2 NODMA +# UART2 (RC input) +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN # USART3 PC10 USART3_TX USART3 PC11 USART3_RX USART3 -# UART4 +# UART4 (ESP32) PA0 UART4_TX UART4 PA1 UART4_RX UART4 # UART5 PD2 UART5_RX UART5 -#???? UART5_TX UART5 -# UART6 +# UART6 (DJI) PC7 USART6_RX USART6 PC6 USART6_TX USART6 -# PA10 IO-debug-console +# USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 -# debug (disabled out to allow for both LEDs) +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 + +# debug PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD @@ -123,32 +122,38 @@ PC9 TIM3_CH4 TIM3 PWM(6) GPIO(55) PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) +# NeoPixel LED strip +PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) + +# RC input using timer +PB15 TIM12_CH2 TIM12 RCININT PULLDOWN LOW + + define HAL_STORAGE_SIZE 15360 STORAGE_FLASH_PAGE 2 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 -# one IMU -IMU Invensense SPI:mpu6000 ROTATION_YAW_180 - -# probe for I2C BMP280, but allow init on board variants without onboard baro too -BARO BMP280 I2C:0:0x76 -define HAL_BARO_ALLOW_INIT_NO_BARO -define AP_BARO_BACKEND_DEFAULT_ENABLED 0 -define AP_BARO_BMP280_ENABLED 1 # no built-in compass, but probe the i2c bus for all possible # external compass types define ALLOW_ARM_NO_COMPASS define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 -define HAL_COMPASS_AUTO_ROT_DEFAULT 2 -# SPI devices -SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ -SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ -SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ + +# spi devices +SPIDEV icm42688 SPI1 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ +SPIDEV osd SPI2 DEVID2 MAX7456_CS MODE0 10*MHZ 10*MHZ +SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ + +# IMUs +IMU Invensense SPI:icm42688 ROTATION_NONE + +# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer +BARO DPS310 I2C:0:0x76 + # filesystem setup on sdcard define HAL_OS_FATFS_IO 1