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196 lines
4.5 KiB
196 lines
4.5 KiB
# hw definition file for processing by chibios_pins.py |
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# Matek F405-Wing, developed by David Ingraham |
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# Board configuration borrowed from Inav F405SE target |
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# Read hwdef/fmuv3/hwdef.dat for more info on these options |
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# SerialX ports are mapped as printed on the top board |
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# R1/T1 -> Serial1 |
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# R2 -> Sbus (T2 not currently used or available) |
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# R3/T3 -> Serial3 |
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# R4/T4 -> Serial4 |
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# R5/T5 -> Serial5 |
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# R6/T6 -> Serial6 |
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# Note: UART4/Serial4, UART5/Serial5, USART6/Serial6 have no DMA on RX (TX always DMA). |
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# If sending highspeed serial data (eg. 921600 baud) to the board, use Serial1/Serial3. |
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################################################# |
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### MCU CONFIGURATION ### |
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################################################# |
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# MCU class and specific type |
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MCU STM32F4xx STM32F405xx |
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# board ID for firmware load |
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APJ_BOARD_ID 127 |
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# crystal frequency |
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OSCILLATOR_HZ 8000000 |
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define STM32_ST_USE_TIMER 5 |
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define CH_CFG_ST_RESOLUTION 32 |
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# reserve 16k for bootloader, 16k for OSD and 32k for flash storage |
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FLASH_RESERVE_START_KB 64 |
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FLASH_SIZE_KB 1024 |
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define HAL_STORAGE_SIZE 15360 |
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define STORAGE_FLASH_PAGE 1 |
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# I2C Buses |
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I2C_ORDER I2C1 I2C2 |
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# order of UARTs |
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SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 UART5 USART6 USART2 |
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################################################# |
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### PIN DEFINITIONS ### |
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################################################# |
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PA0 UART4_TX UART4 |
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PA1 UART4_RX UART4 |
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# default to timer for RC input |
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PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW |
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# alternative using USART2 |
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PA2 USART2_TX USART2 NODMA |
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PA3 USART2_RX USART2 NODMA ALT(1) |
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PA4 MPU_CS CS |
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# IMU SPI |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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PA9 USART1_TX USART1 |
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PA10 USART1_RX USART1 |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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PA14 LED_BLUE OUTPUT LOW GPIO(0) |
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PA13 LED_GREEN OUTPUT LOW GPIO(1) # optional |
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define HAL_GPIO_A_LED_PIN 0 |
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define HAL_GPIO_B_LED_PIN 1 |
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#pwm output |
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PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50) |
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PB6 TIM4_CH1 TIM4 PWM(2) GPIO(51) |
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) |
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) |
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PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) |
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PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) |
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PB14 TIM1_CH2N TIM1 PWM(7) GPIO(56) |
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PB15 TIM1_CH3N TIM1 PWM(8) GPIO(57) |
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) |
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PA15 TIM2_CH1 TIM2 PWM(10) GPIO(59) #on LED pin,allows odd motor groups |
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# SD CARD SPI |
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PB3 SPI3_SCK SPI3 |
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PB4 SPI3_MISO SPI3 |
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PB5 SPI3_MOSI SPI3 |
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PC14 SDCARD_CS CS |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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# OSD SPI |
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PB12 OSD_CS CS |
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PB13 SPI2_SCK SPI2 |
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PC2 SPI2_MISO SPI2 |
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PC3 SPI2_MOSI SPI2 |
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1) |
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PC5 RSSI_ADC_PIN ADC1 SCALE(1) |
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PC6 USART6_TX USART6 |
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PC7 USART6_RX USART6 |
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PC10 USART3_TX USART3 |
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PC11 USART3_RX USART3 |
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PC12 UART5_TX UART5 |
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PD2 UART5_RX UART5 |
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PC13 VBUS INPUT OPENDRAIN |
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PC15 BUZZER OUTPUT GPIO(80) LOW |
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define HAL_BUZZER_PIN 80 |
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define HAL_BUZZER_ON 1 |
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define HAL_BUZZER_OFF 0 |
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################################################# |
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### DEVICES ### |
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################################################# |
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# MPU6000 on SPI |
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SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ |
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# OSD on SPI |
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SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ |
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# SD Card on SPI |
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SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ |
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# one IMU |
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180 |
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# one baro |
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BARO BMP280 I2C:0:0x76 |
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define HAL_OS_FATFS_IO 1 |
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" |
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" |
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# define default battery setup |
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define HAL_BATT_MONITOR_DEFAULT 4 |
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define HAL_BATT_VOLT_PIN 10 |
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define HAL_BATT_CURR_PIN 11 |
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define HAL_BATT_VOLT_SCALE 11 |
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define HAL_BATT_CURR_SCALE 31.7 |
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#analog rssi pin (also could be used as analog airspeed input) |
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# PC5 - ADC12_CH15 |
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define BOARD_RSSI_ANA_PIN 15 |
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# no built-in compass, but probe the i2c bus for all possible |
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# external compass types |
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define ALLOW_ARM_NO_COMPASS |
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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define HAL_I2C_INTERNAL_MASK 0 |
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2 |
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define OSD_ENABLED 1 |
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define HAL_OSD_TYPE_DEFAULT 1 |
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin |
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define BOARD_PWM_COUNT_DEFAULT 10 |
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define STM32_PWM_USE_ADVANCED TRUE |
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# disable SMBUS and fuel battery monitors to save flash |
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define HAL_BATTMON_SMBUS_ENABLE 0 |
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define HAL_BATTMON_FUEL_ENABLE 0 |
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# disable parachute and sprayer to save flash |
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define HAL_PARACHUTE_ENABLED 0 |
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define HAL_SPRAYER_ENABLED 0 |
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define HAL_NAVEKF2_AVAILABLE 0 |
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# reduce max size of embedded params for apj_tool.py |
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define AP_PARAM_MAX_EMBEDDED_PARAM 1024 |
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define HAL_WITH_DSP FALSE
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