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194 lines
4.6 KiB
194 lines
4.6 KiB
# hw definition file for MATEK M9N-F405 |
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# MCU class and specific type |
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MCU STM32F4xx STM32F405xx |
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# bootloader starts firmware at 64k |
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FLASH_RESERVE_START_KB 64 |
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FLASH_SIZE_KB 1024 |
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# store parameters in pages 11 and 12 |
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STORAGE_FLASH_PAGE 1 |
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define HAL_STORAGE_SIZE 15360 |
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# board ID for firmware load |
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APJ_BOARD_ID 1054 |
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define STM32_ST_USE_TIMER 5 |
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define CH_CFG_ST_RESOLUTION 32 |
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# crystal frequency |
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OSCILLATOR_HZ 8000000 |
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# --------------------- LED ----------------------- |
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PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT |
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PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E |
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define HAL_GPIO_A_LED_PIN 91 |
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define HAL_GPIO_B_LED_PIN 90 |
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define HAL_GPIO_LED_OFF 1 |
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# --------------------- PWM ----------------------- |
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PC9 TIM8_CH4 TIM8 PWM(1) GPIO(50) |
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PC8 TIM8_CH3 TIM8 PWM(2) GPIO(51) |
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PB15 TIM1_CH3N TIM1 PWM(3) GPIO(52) |
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PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53) |
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PB11 TIM2_CH4 TIM2 PWM(5) GPIO(54) |
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PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55) |
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PB3 TIM2_CH2 TIM2 PWM(7) GPIO(56) |
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PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) |
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PB14 TIM12_CH1 TIM12 PWM(9) GPIO(58) NODMA |
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PA6 TIM13_CH1 TIM13 PWM(10) GPIO(59) NODMA |
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PB6 TIM4_CH1 TIM4 PWM(11) GPIO(60) NODMA |
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PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61) # LED pad |
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define STM32_PWM_USE_ADVANCED TRUE |
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# Beeper |
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PB9 TIM11_CH1 TIM11 GPIO(32) ALARM |
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# GPIOs |
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PA4 PINIO1 OUTPUT GPIO(81) LOW |
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PB5 PINIO2 OUTPUT GPIO(82) LOW |
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# --------------------- SPI1 ----------------------- |
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PA5 SPI1_SCK SPI1 |
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PB4 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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PC14 IMU_CS CS |
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PB12 OSD_CS CS |
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# --------------------- SPI2 ----------------------- |
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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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PC13 FLASH_CS CS |
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PC1 SDCARD_CS CS |
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# -------------------- I2C bus -------------------- |
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I2C_ORDER I2C1 |
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PB8 I2C1_SCL I2C1 |
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PB7 I2C1_SDA I2C1 |
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define HAL_I2C_INTERNAL_MASK 0 |
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# --------------------- UARTs --------------------------- |
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SERIAL_ORDER OTG1 USART1 USART3 UART5 UART4 USART6 USART2 |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# USART1 |
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PA9 USART1_TX USART1 |
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PA10 USART1_RX USART1 |
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# USART2, RC input |
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# alternative using USART2 |
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PA2 USART2_TX USART2 |
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PA3 USART2_RX USART2 ALT(1) |
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# default to timer for RC input |
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PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW |
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# USART3 |
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PC10 USART3_TX USART3 NODMA |
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PC11 USART3_RX USART3 NODMA |
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# UART4 |
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PA0 UART4_TX UART4 NODMA |
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PA1 UART4_RX UART4 NODMA |
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# UART5, for GPS |
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PC12 UART5_TX UART5 NODMA |
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PD2 UART5_RX UART5 NODMA |
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# USART6 |
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PC6 USART6_TX USART6 |
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PC7 USART6_RX USART6 NODMA |
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# ------------------- DMA assignment ------------------- |
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DMA_PRIORITY ADC1 SPI1* SPI2* TIM1* TIM8* TIM3* UART2* |
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# ------------------- IMU ICM42605 --------------------- |
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SPIDEV icm42605 SPI1 DEVID1 IMU_CS MODE3 2*MHZ 8*MHZ |
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IMU Invensensev3 SPI:icm42605 ROTATION_YAW_90 |
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define HAL_DEFAULT_INS_FAST_SAMPLE 1 |
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# ------------------ OSD AT7456E ---------------------- |
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SPIDEV osd SPI1 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ |
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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/font0.bin |
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# --------------------- SD & FLASH ---------------------- |
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SPIDEV sdcard SPI2 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ |
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SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ |
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define HAL_LOGGING_DATAFLASH_ENABLED 1 |
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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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# ----------------- I2C compass & Baro ----------------- |
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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_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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# built-in barometer |
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BARO SPL06 I2C:0:0x76 |
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# --------------------- ADC --------------------------- |
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PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PC5 BATT_CURRENT_SENS ADC1 SCALE(1) |
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PB0 RSSI_ADC_PIN ADC1 SCALE(1) |
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PC0 PRESSURE_SENS ADC1 SCALE(1) |
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define HAL_BATT_MONITOR_DEFAULT 4 |
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define HAL_BATT_VOLT_PIN 14 |
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define HAL_BATT_VOLT_SCALE 21.0 |
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define HAL_BATT_CURR_PIN 15 |
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define HAL_BATT_CURR_SCALE 66.7 |
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define BOARD_RSSI_ANA_PIN 8 |
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define HAL_DEFAULT_AIRSPEED_PIN 10 |
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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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# --------------------- save flash ---------------------- |
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define AP_BATTMON_SMBUS_ENABLE 0 |
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define AP_BATTMON_FUEL_ENABLE 0 |
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define HAL_PARACHUTE_ENABLED 0 |
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define HAL_SPRAYER_ENABLED 0 |
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define HAL_GENERATOR_ENABLED 0 |
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define AC_OAPATHPLANNER_ENABLED 0 |
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define PRECISION_LANDING 0 |
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define HAL_BARO_WIND_COMP_ENABLED 0 |
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define GRIPPER_ENABLED 0 |
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define HAL_RUNCAM_ENABLED 0 |
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define HAL_HOTT_TELEM_ENABLED 0 |
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define HAL_NMEA_OUTPUT_ENABLED 0 |
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define HAL_BUTTON_ENABLED 0 |
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define HAL_OREO_LED_ENABLED 0 |
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define HAL_PICCOLO_CAN_ENABLE 0 |
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define AP_OPTICALFLOW_ENABLED 0
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