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239 lines
5.4 KiB
239 lines
5.4 KiB
# hw definition file for f405 Matek CAN GPS |
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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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define 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 1014 |
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env AP_PERIPH 1 |
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define PERIPH_FW TRUE |
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define HAL_BUILD_AP_PERIPH |
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define STM32_ST_USE_TIMER 5 |
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define CH_CFG_ST_RESOLUTION 32 |
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# enable watchdog |
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define HAL_WATCHDOG_ENABLED_DEFAULT true |
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# crystal frequency |
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OSCILLATOR_HZ 8000000 |
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STDOUT_SERIAL SD1 |
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STDOUT_BAUDRATE 57600 |
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# blue LED0 marked as ACT |
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PA14 LED OUTPUT HIGH |
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define HAL_LED_ON 1 |
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define HAL_NO_GPIO_IRQ |
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define SERIAL_BUFFERS_SIZE 512 |
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define PORT_INT_REQUIRED_STACK 64 |
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# avoid timer and RCIN threads to save memory |
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define HAL_NO_RCIN_THREAD |
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define HAL_USE_RTC FALSE |
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define DISABLE_SERIAL_ESC_COMM TRUE |
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define NO_DATAFLASH TRUE |
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define DMA_RESERVE_SIZE 0 |
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define HAL_DISABLE_LOOP_DELAY |
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define HAL_NO_GCS |
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define HAL_NO_MONITOR_THREAD |
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define HAL_MINIMIZE_FEATURES 0 |
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define HAL_DEVICE_THREAD_STACK 768 |
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# we setup a small defaults.parm |
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define AP_PARAM_MAX_EMBEDDED_PARAM 256 |
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# use the app descriptor needed by MissionPlanner for CAN upload |
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env APP_DESCRIPTOR MissionPlanner |
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# reserve 256 bytes for comms between app and bootloader |
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RAM_RESERVE_START 256 |
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# keep ROMFS uncompressed as we don't have enough RAM |
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# to uncompress the bootloader at runtime |
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env ROMFS_UNCOMPRESSED True |
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# --------------------- SPI1 IMU ----------------------- |
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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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PA4 MPU_CS CS |
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# SPIDEV icm20602 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ |
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# IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90 |
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# --------------------- SPI2 RM3100 -------------------- |
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PB13 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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PB12 MAG_CS CS |
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# ---------------------- SPI3 SD ------------------------ |
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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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# ---------------------- I2C bus ------------------------ |
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I2C_ORDER I2C2 |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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define HAL_I2C_CLEAR_ON_TIMEOUT 0 |
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define HAL_I2C_INTERNAL_MASK 1 |
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# ---------------------- CAN bus ------------------------- |
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PB8 CAN1_RX CAN1 |
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PB9 CAN1_TX CAN1 |
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PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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# use DNA for node allocation |
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define HAL_CAN_DEFAULT_NODE_ID 0 |
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define CAN_APP_NODE_NAME "org.ardupilot.f405_MatekGPS" |
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# ---------------------- UARTs --------------------------- |
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# | sr0 | sr1 | sr2 | GPS | MSP | |
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SERIAL_ORDER USART1 USART2 USART3 UART4 UART5 |
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# USART1, for debug |
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PA9 USART1_TX USART1 SPEED_HIGH NODMA |
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PA10 USART1_RX USART1 SPEED_HIGH NODMA |
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# USART2 |
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PA2 USART2_TX USART2 SPEED_HIGH NODMA |
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PA3 USART2_RX USART2 SPEED_HIGH NODMA |
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# USART3 |
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PC10 USART3_TX USART3 SPEED_HIGH NODMA |
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PC11 USART3_RX USART3 SPEED_HIGH NODMA |
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# UART4, for GPS |
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PA0 UART4_TX UART4 SPEED_HIGH NODMA |
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PA1 UART4_RX UART4 SPEED_HIGH NODMA |
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# USART5, for MSP |
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PC12 UART5_TX UART5 SPEED_HIGH |
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PD2 UART5_RX UART5 SPEED_HIGH |
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# --------------------- PWM ----------------------- |
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PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50) |
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PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51) |
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PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52) |
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PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53) |
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) |
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) |
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# PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) |
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# PB7 TIM4_CH2 TIM4 PWM(8) GPIO(57) |
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# WS2812 LED pin |
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PA15 TIM2_CH1 TIM2 PWM(7) GPIO(58) |
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# Beeper |
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PA8 TIM1_CH1 TIM1 GPIO(32) ALARM |
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# ----------------------- GPS ---------------------------- |
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define HAL_PERIPH_ENABLE_GPS |
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define GPS_MAX_RATE_MS 200 |
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define GPS_MAX_RECEIVERS 1 |
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define GPS_MAX_INSTANCES 1 |
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# ---------------------- COMPASS --------------------------- |
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define HAL_PERIPH_ENABLE_MAG |
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SPIDEV rm3100 SPI2 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ |
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COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180 |
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define HAL_COMPASS_MAX_SENSORS 1 |
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# added QMC5883L for different board varients |
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 |
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# --------------------- DPS310 --------------------------- |
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define HAL_PERIPH_ENABLE_BARO |
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define HAL_BARO_ALLOW_INIT_NO_BARO |
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BARO DPS310 I2C:0:0x76 |
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# ------------------ I2C airspeed ------------------------- |
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define HAL_PERIPH_ENABLE_AIRSPEED |
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# MS4525 sensor by default |
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define HAL_AIRSPEED_TYPE_DEFAULT 1 |
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define AIRSPEED_MAX_SENSORS 1 |
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# -------------------- MSP -------------------------------- |
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define HAL_PERIPH_ENABLE_MSP |
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define HAL_MSP_ENABLED 1 |
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define AP_PERIPH_MSP_PORT_DEFAULT 4 |
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# ----------------- rangefinder,ADSB ---------------------- |
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define HAL_PERIPH_ENABLE_RANGEFINDER |
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define RANGEFINDER_MAX_INSTANCES 1 |
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# disable rangefinder by default |
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define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1 |
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define HAL_PERIPH_ENABLE_ADSB |
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# ------------------ BATTERY Monitor ----------------------- |
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define HAL_PERIPH_ENABLE_BATTERY |
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define HAL_USE_ADC TRUE |
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define STM32_ADC_USE_ADC1 TRUE |
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# define HAL_DISABLE_ADC_DRIVER TRUE |
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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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# PC2 RSSI_ADC_PIN ADC1 SCALE(1) |
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# PC3 PRESSURE_SENS ADC1 SCALE(1) |
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PC5 BATT2_VOLTAGE_SENS ADC1 SCALE(1) |
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# define BOARD_RSSI_ANA_PIN 12 |
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# define HAL_DEFAULT_AIRSPEED_PIN 13 |
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define HAL_BATT_MONITOR_DEFAULT 4 |
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define HAL_BATT2_MONITOR_DEFAULT 4 |
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define HAL_BATT_VOLT_PIN 10 |
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define HAL_BATT_VOLT_SCALE 21.0 |
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define HAL_BATT_CURR_PIN 11 |
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define HAL_BATT_CURR_SCALE 40.0 |
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define HAL_BATT2_VOLT_PIN 15 |
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define HAL_BATT2_VOLT_SCALE 11.0 |
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# -------------------- Buzzer+NeoPixels --------------d------ |
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define HAL_PERIPH_ENABLE_RC_OUT |
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define HAL_PERIPH_ENABLE_NOTIFY
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