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hwdef: remove comments of AOCODA-RC-F405V2 config
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@lida2003
lida2003 committed Nov 5, 2023
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4 changes: 0 additions & 4 deletions libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V2/defaults.parm
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178 changes: 3 additions & 175 deletions libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405V2/hwdef.dat
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Original file line number Diff line number Diff line change
@@ -1,68 +1,15 @@
# hw definition file for processing by chibios_pins.py
# Aocoda-RC-F405V2 MPU6500/MPU6000

# This hwdef.dat file contains a lot of comments so it can act as a
# reference for developers adding new boards.

# The hwdef.dat file defines all the hardware peripherals and pins for
# a port of ArduPilot to a board using the ChibiOS HAL. You should be
# able to write the hwdef.dat file for a new board with just the
# schematic for the board.

# This file is processed by chibios_hwdef.py to create hwdef.h for
# this board. You may find it useful to run chibios_hwdef.py manually
# when building this file for a new board. The resulting hwdef.h file
# is formatted to make it quite readable. It is strongly suggested
# that you read the resulting hwdef.h file when porting to a new board
# to make sure it has resulted in what you want.

# You should read this file in conjunction with the schematic for your
# board, the datasheet for the MCU for your board and the python
# tables file that we have extracted from the datasheet for your
# MCU. The python tables file is particularly important, so if you
# haven't seen it before go and look at it now. For the STM32F427 it
# it called STM32F427xx.py and it is in the hwdef/script/ directory
# inside the HAL_ChibiOS directory. That file tells you what each pin
# can do (the alternate functions table) and what DMA channels can be
# used for each peripheral type. The alternative functions table is
# particularly useful when doing a new hwdef.dat file as you can work
# out peripheral numbers given a port/pin name.

# We need to start off by saying what main CPU is on the board. There
# are two CPU identifiers that you need to specify. The first is the
# ChibiOS MCU type. The second string needs to match the name of a config
# file in the libraries/AP_HAL_ChibiOS/hwdef/script directory.
# In this case we are using a H743 MCU, so we select STM32H743xx to match the
# STM32H743xx.py file in the script directory. If you are supporting a
# board type that doesn't have a python hardware database file yet
# then you will need to create one. There are scripts in the scripts
# directory to help with that by parsing the STM32 datasheets to
# extract the required DMA and alternate function tables.

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# Now we need to specify the APJ_BOARD_ID. This is the ID that the
# bootloader presents to GCS software so it knows if this firmware is
# suitable for the board. Please see
# https://github.com/ArduPilot/Bootloader/blob/master/hw_config.h for
# a list of current board IDs. If you add a new board type then please
# get it added to that repository so we don't get conflicts.

# Note that APJ is "ArduPilot JSON Firmware Format".

# board ID for firmware load
APJ_BOARD_ID 5211

# Now you need to say what crystal frequency you have for this
# board. All of the clocks are scaled against this. Typical values are
# 24000000 or 8000000.

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

# Now the size of flash in kilobytes, for creating the ld.script.

# flash size
FLASH_SIZE_KB 1024

Expand All @@ -72,20 +19,6 @@ FLASH_RESERVE_START_KB 64
define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# On some boards you will need to also set the various PLL values. See
# the defaults in common/mcuconf.h, and use the define mechanism
# explained later in this file to override values suitable for your
# board. Refer to your MCU datasheet or examples from supported boards
# in ChibiOS for the right values.

# Now define the voltage the MCU runs at. This is needed for ChibiOS
# to set various internal driver limits. It is in 0.01 volt units.


# This is the STM32 timer that ChibiOS will use for the low level
# driver. This must be a 32 bit timer. We currently only support
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details.

# ChibiOS system timer
define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32
Expand All @@ -97,15 +30,11 @@ USB_STRING_MANUFACTURER "Aocoda-RC-F405V2"
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# OTG USB VBUS
PB12 VBUS INPUT OPENDRAIN

# Now the first SPI bus. At minimum you need SCK, MISO and MOSI pin
# definitions. You can add speed modifiers if you want them, otherwise
# the defaults for the peripheral class are used.

# IMU SPI
PA4 MPU_CS CS
#PB11 MPU_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
Expand All @@ -122,43 +51,17 @@ PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PC0 FLASH_CS CS

# Now define the order that I2C buses are presented in the hal.i2c API
# in ArduPilot. For historical reasons inherited from HAL_PX4 the
# 'external' I2C bus should be bus 1 in hal.i2c, and internal I2C bus
# should be bus 0. On fmuv3 the STM32 I2C1 is our external bus and
# I2C2 is our internal bus, so we need to setup the order as I2C2
# followed by I2C1 in order to achieve the conventional order that
# drivers expect.

# I2C Buses
I2C_ORDER I2C1

# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.

# I2C1
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# Now define the primary battery connectors. The labels we choose here
# are used to create defines for pins in the various drivers, so
# choose names that match existing board setups where possible. Here
# we define two pins PA2 and PA3 for voltage and current sensing, with
# a scale factor of 1.0 and connected on ADC1. The pin number this
# maps to in hal.adc is automatically determined using the datasheet
# tables in STM32F427xx.py.

# ADC for Power
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

# This adds a C define which sets up the ArduPilot architecture
# define. Any line starting with 'define' is copied literally as
# a #define in the hwdef.h header.

# Now setup the default battery pins driver analog pins and default
# scaling for the power brick.

# PC1 = IN11 PC2 = IN12
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 12
Expand All @@ -167,7 +70,6 @@ define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 30.1

# ADC for airspeed(or rssi)

# PC3 - ADC123_IN13
define BOARD_RSSI_ANA_PIN 13
PC3 RSSI_ADC_PIN ADC1 SCALE(1)
Expand All @@ -176,16 +78,10 @@ PC3 RSSI_ADC_PIN ADC1 SCALE(1)
# PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
# green LED1 marked as B/E
# blue LED0 marked as ACT

PC13 LED_BLUE OUTPUT LOW GPIO(1)
define HAL_GPIO_A_LED_PIN 1
define HAL_GPIO_B_LED_PIN 2

# Now the serial ordering. These map to the SERIALn_ parameter numbers
# If you use a shorter list then HAL_Empty::UARTDriver
# objects are substituted for later UARTs, or you can leave a gap by
# listing one or more of the uarts as EMPTY.

# The normal usage of this ordering is:
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL1: GPS
Expand All @@ -197,41 +93,6 @@ define HAL_GPIO_B_LED_PIN 2
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5

# Now we start on the pin definitions. Every pin used by ArduPilot
# needs to be in this file. The pins in this file can be defined in any order.

# The format is P+port+pin. So PC4 is portC pin4.
# For every pin the second column is the label. If this is a
# peripheral that has an alternate function defined in the STM32
# datasheet then the label must be the name of that alternative
# function. The names are looked up in the python database for this
# MCU. Please see STM32F427xx.py for the F427 database. That database
# is used to automatically fill in the alternative function (and later
# for the DMA channels).

# The third column is the peripheral type. This must be one of the
# following: UARTn, USARTn, OTGn, SPIn, I2Cn, ADCn, TIMn, SWD, SDIO,
# INPUT, OUTPUT, CS.

# The fourth and later columns are for modifiers on the pin. The
# possible modifiers are:
# pin speed: SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH
# pullup: PULLUP, PULLDOWN, FLOATING
# out type: OPENDRAIN, PUSHPULL
# default value: LOW, HIGH

# Additionally, each class of pin peripheral can have extra modifiers
# suitable for that pin type. For example, for an OUTPUT you can map
# it to a GPIO number in hal.gpio using the GPIO(n) modifier. For ADC
# inputs you can apply a scaling factor (to bring it to unit volts)
# using the SCALE(x) modifier. See the examples below for more
# modifiers, or read the python code in chibios_hwdef.py.

# Now we define UART4 which is for the GPS. Be careful
# of the difference between USART and UART. Check the STM32F427xx.py
# if unsure which it is. For a UART we need to specify at least TX and
# RX pins.

# USART1 (GPS), SERIAL1
PA9 USART1_TX USART1
PA10 USART1_RX USART1
Expand Down Expand Up @@ -260,12 +121,6 @@ PC12 UART5_TX UART5
PD2 UART5_RX UART5
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None

# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
# outputs on the primary MCU are setup as PWM and how many as
# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
# starting at 50.

# Motors
#pwm output
PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50)
Expand All @@ -278,35 +133,14 @@ PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56)
PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
PB1 TIM3_CH4 TIM3 PWM(9) GPIO(58)

# This defines the PWM pin for the buzzer (if there is one). It is
# also mapped to a GPIO output so you can play with the buzzer via
# MAVLink relay commands if you want to.

# 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

# Now the SPI device table. This table creates all accessible SPI
# devices, giving the name of the device (which is used by device
# drivers to open the device), plus which SPI bus it it on, what
# device ID will be used (which controls the IDs used in parameters
# such as COMPASS_DEV_ID, so we can detect when the list of devices
# changes between reboots for calibration purposes), the SPI mode to
# use, and the low and high speed settings for the device.

# You can define more SPI devices than you actually have, to allow for
# flexibility in board setup, and the driver code can probe to see
# which are responding.

# The DEVID values and device names are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass
# calibrations when moving to ChibiOS.

# spi devices
# MP6500/MPU6000 on SPI
# IMU MP6500/MPU6000 on SPI
SPIDEV mpu6500 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ
SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ

Expand Down Expand Up @@ -340,13 +174,6 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

#################################################
### Others from manufacture ###
#################################################

#DMA_PRIORITY SPI3* TIM1_CH3
#DMA_NOSHARE TIM8* TIM1*

# support VTX IRC tramp protocol
define AP_TRAMP_ENABLED 1

Expand All @@ -370,5 +197,6 @@ 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/minimal.inc

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