ardupilot/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat

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# hw definition file for processing by chibios_pins.py
# Omnibus F4 V6
# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, no flash log storage
# MCU class and specific type
MCU STM32F4xx STM32F405xx
# board ID for firmware load
APJ_BOARD_ID 137
# crystal frequency
OSCILLATOR_HZ 8000000
# ChibiOS system timer
STM32_ST_USE_TIMER 5
# flash size
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 64
# order of I2C buses
I2C_ORDER I2C1
# order of UARTs
SERIAL_ORDER OTG1 USART1 UART4 USART6 USART3 USART2
#PINS
PA10 USART1_RX USART1
PA9 USART1_TX USART1
PC6 USART6_TX USART6
PC7 USART6_RX USART6
PB10 USART3_TX USART3
PB11 USART3_RX USART3
# UART4 (only RX) #"TX" pin PA0 is used for RSSI_ADC_CHANNEL
PA1 UART4_RX UART4
# transmit only usart2, for telemetry output (eg. Hott telem)
PA2 USART2_TX USART2
#adc
PC1 BAT_CURR_SENS ADC1 SCALE(1)
PC2 BAT_VOLT_SENS ADC1 SCALE(1)
PA0 RSSI_IN ADC1
#pwm output # PWM out pins. Channel order (GPIOs) follows the ArduPilot motor
# order conventions
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)
PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54)
PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55)
# spi bus for IMU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PC12 SPI3_MOSI SPI3
PC11 SPI3_MISO SPI3
PC10 SPI3_SCK SPI3
# SPI2 for flash
PB15 SPI2_MOSI SPI2
PB14 SPI2_MISO SPI2
PB13 SPI2_SCK SPI2
PB12 FLASH_CS CS
PA4 MPU6000_CS CS #SPI1_NSS
PA15 OSD_CS CS #SPI3_NSS
PB3 BMP280_CS CS #SPI3_NSS
# note that this board needs PULLUP on I2C pins
PB8 I2C1_SCL I2C1 PULLUP
PB9 I2C1_SDA I2C1 PULLUP
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
PA8 LED OUTPUT HIGH GPIO(41)
#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC5 VBUS INPUT OPENDRAIN
# LED strip output pad used for RC input
# timer 4 is free (not used for pwm)
PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW
#Omnibus F4 V3 and later had hw inverter on UART6
#Overide it to use as GPS UART port
#PC8 SBUS_INVERT_RX OUTPUT LOW
#PC9 SBUS_INVERT_TX OUTPUT LOW
########### SPI Devices
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
SPIDEV bmp280 SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1
# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_90
# one baro
BARO BMP280 SPI:bmp280
# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360
# define default battery setup
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 18.2
#analog rssi pin (also could be used as analog airspeed input)
#PA0 - ADC123_CH0
define BOARD_RSSI_ANA_PIN 0
define HAL_GPIO_A_LED_PIN 41
#To have complementary channels work we define this
define STM32_PWM_USE_ADVANCED TRUE
define OSD_ENABLED 1
#font for the osd
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin