ardupilot/libraries/AP_HAL_ChibiOS/hwdef/ACNS-CM4Pilot/hwdef.dat

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# hw definition file for processing by chibios_pins.py
# CM4pilot, developed by Robin Luo luojinglinemail@gmail.com
#################################################
### MCU CONFIGURATION ###
#################################################
# MCU class and specific type
MCU STM32F4xx STM32F405xx
# board ID for firmware load
APJ_BOARD_ID AP_HW_ACNS_CM4PILOT
# crystal frequency
OSCILLATOR_HZ 16000000
define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32
# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
FLASH_RESERVE_START_KB 64
FLASH_SIZE_KB 1024
#define HAL_STORAGE_SIZE 16384
define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1
# enable FLASH/RAMTROM parameter storage
#define HAL_WITH_DATAFLASH 1
# enable logging to dataflash
#define HAL_LOGGING_DATAFLASH_ENABLED 1
# order of UARTs
SERIAL_ORDER OTG1 USART1 USART3 UART4 USART6 USART2
#################################################
### PIN DEFINITIONS ###
#################################################
PA0 UART4_TX UART4
PA1 UART4_RX UART4
PA9 USART1_TX USART1
PA10 USART1_RX USART1
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC6 USART6_TX USART6
PC7 USART6_RX USART6
PB10 USART3_TX USART3
PB11 USART3_RX USART3
# default to timer for RC input
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
# alternative using USART2
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA ALT(1)
# IMU SPI
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 BMI088_A_CS CS
PC3 BMI088_G_CS CS
PC4 BMI088_A_DRDY INPUT
PB2 BMI088_G_DRDY INPUT
# SD CARD SPI
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
PD2 SDCARD_CS CS
PA14 FLASH_CS CS
# MAG SPI
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 MAG_CS CS
PC5 MAG_DRDY INPUT
PC15 ESPI_CS CS
# I2C1
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1
#define HAL_USE_I2C TRUE
#define STM32_I2C_USE_I2C1 TRUE
# I2C Buses
I2C_ORDER I2C1
#define HAL_I2C_CLEAR_ON_TIMEOUT 0
# CAN
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
# CAN Buses
#CAN_ORDER 1
# reduce memory usage
define UAVCAN_NODE_POOL_SIZE 1024
PC0 RSSI_ADC_PIN ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC14 LED_BLUE OUTPUT LOW GPIO(0)
PA13 LED_GREEN OUTPUT LOW GPIO(1)
#PC15 LED_RED OUTPUT LOW GPIO(2)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
#define HAL_GPIO_C_LED_PIN 2
#pwm output
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51)
PB4 TIM3_CH1 TIM3 PWM(3) GPIO(52)
PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53)
PB3 TIM2_CH2 TIM2 PWM(5) GPIO(54)
PA15 TIM2_CH1 TIM2 PWM(6) GPIO(55)
PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
#PWM output for buzzer
PA8 TIM1_CH1 TIM1 GPIO(77) LOW ALARM
#PA2 TIM2_CH3 TIM2 PWM(10) GPIO(59)
PC13 VBUS INPUT OPENDRAIN
# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN
#################################################
### DEVICES ###
#################################################
# BMI088 on SPI1
SPIDEV bmi088_g SPI1 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI1 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
# MAG on SPI2
SPIDEV lis3mdl SPI2 DEVID3 MAG_CS MODE3 500*KHZ 500*KHZ
# SD Card on SPI3
SPIDEV sdcard SPI3 DEVID4 SDCARD_CS MODE3 400*KHZ 25*MHZ
# Flash Card on SPI3
SPIDEV dataflash SPI3 DEVID5 FLASH_CS MODE3 500*KHZ 25*MHZ
# one IMU
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
#ROTATION_ROLL_180_YAW_270
# one baro, multiple possible choices for different board variants
BARO BMP280 I2C:0:0x76
# one mag
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_ROLL_180_YAW_270
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
#analog rssi pin (also could be used as analog airspeed input)
# PC0 - ADC1_CH10
define BOARD_RSSI_ANA_PIN 10
# probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
#define OSD_ENABLED 0
# --------------------- save flash ----------------------
include ../include/minimize_features.inc