2021-12-13 22:10:19 -04:00
|
|
|
# hw definition file for MATEK M9N-F405
|
|
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
|
|
|
|
|
|
# bootloader starts firmware at 64k
|
|
|
|
|
FLASH_RESERVE_START_KB 64
|
|
|
|
|
FLASH_SIZE_KB 1024
|
|
|
|
|
|
|
|
|
|
# store parameters in pages 11 and 12
|
|
|
|
|
STORAGE_FLASH_PAGE 1
|
2022-01-06 02:20:50 -04:00
|
|
|
define HAL_STORAGE_SIZE 15360
|
2021-12-13 22:10:19 -04:00
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 1054
|
|
|
|
|
|
|
|
|
|
define STM32_ST_USE_TIMER 5
|
|
|
|
|
define CH_CFG_ST_RESOLUTION 32
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# --------------------- LED -----------------------
|
|
|
|
|
PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT
|
|
|
|
|
PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E
|
|
|
|
|
define HAL_GPIO_A_LED_PIN 91
|
|
|
|
|
define HAL_GPIO_B_LED_PIN 90
|
|
|
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# --------------------- PWM -----------------------
|
|
|
|
|
PC9 TIM8_CH4 TIM8 PWM(1) GPIO(50)
|
|
|
|
|
PC8 TIM8_CH3 TIM8 PWM(2) GPIO(51)
|
|
|
|
|
PB15 TIM1_CH3N TIM1 PWM(3) GPIO(52)
|
|
|
|
|
PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53)
|
|
|
|
|
PB11 TIM2_CH4 TIM2 PWM(5) GPIO(54)
|
|
|
|
|
PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55)
|
|
|
|
|
PB3 TIM2_CH2 TIM2 PWM(7) GPIO(56)
|
|
|
|
|
PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57)
|
|
|
|
|
|
|
|
|
|
PB14 TIM12_CH1 TIM12 PWM(9) GPIO(58) NODMA
|
|
|
|
|
PA6 TIM13_CH1 TIM13 PWM(10) GPIO(59) NODMA
|
|
|
|
|
PB6 TIM4_CH1 TIM4 PWM(11) GPIO(60) NODMA
|
|
|
|
|
PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61) # LED pad
|
|
|
|
|
|
|
|
|
|
define STM32_PWM_USE_ADVANCED TRUE
|
|
|
|
|
|
|
|
|
|
# Beeper
|
|
|
|
|
PB9 TIM11_CH1 TIM11 GPIO(32) ALARM
|
|
|
|
|
|
|
|
|
|
# GPIOs
|
|
|
|
|
PA4 PINIO1 OUTPUT GPIO(81) LOW
|
|
|
|
|
PB5 PINIO2 OUTPUT GPIO(82) LOW
|
|
|
|
|
|
|
|
|
|
# --------------------- SPI1 -----------------------
|
|
|
|
|
PA5 SPI1_SCK SPI1
|
|
|
|
|
PB4 SPI1_MISO SPI1
|
|
|
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
|
|
|
|
|
PC14 IMU_CS CS
|
|
|
|
|
PB12 OSD_CS CS
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# --------------------- SPI2 -----------------------
|
|
|
|
|
PB13 SPI2_SCK SPI2
|
|
|
|
|
PC2 SPI2_MISO SPI2
|
|
|
|
|
PC3 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
PC13 FLASH_CS CS
|
|
|
|
|
PC1 SDCARD_CS CS
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# -------------------- I2C bus --------------------
|
|
|
|
|
I2C_ORDER I2C1
|
|
|
|
|
|
|
|
|
|
PB8 I2C1_SCL I2C1
|
|
|
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
|
|
|
|
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
|
|
|
|
|
|
|
|
# --------------------- UARTs ---------------------------
|
|
|
|
|
SERIAL_ORDER OTG1 USART1 USART3 UART5 UART4 USART6 USART2
|
|
|
|
|
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
|
|
|
|
|
# USART1
|
|
|
|
|
PA9 USART1_TX USART1
|
|
|
|
|
PA10 USART1_RX USART1
|
|
|
|
|
|
|
|
|
|
# USART2, RC input
|
|
|
|
|
# alternative using USART2
|
|
|
|
|
PA2 USART2_TX USART2
|
|
|
|
|
PA3 USART2_RX USART2 ALT(1)
|
|
|
|
|
|
|
|
|
|
# default to timer for RC input
|
|
|
|
|
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
|
|
|
|
|
|
|
|
|
|
# USART3
|
|
|
|
|
PC10 USART3_TX USART3 NODMA
|
|
|
|
|
PC11 USART3_RX USART3 NODMA
|
|
|
|
|
|
|
|
|
|
# UART4
|
|
|
|
|
PA0 UART4_TX UART4 NODMA
|
|
|
|
|
PA1 UART4_RX UART4 NODMA
|
|
|
|
|
|
|
|
|
|
# UART5, for GPS
|
|
|
|
|
PC12 UART5_TX UART5 NODMA
|
|
|
|
|
PD2 UART5_RX UART5 NODMA
|
|
|
|
|
|
|
|
|
|
# USART6
|
|
|
|
|
PC6 USART6_TX USART6
|
|
|
|
|
PC7 USART6_RX USART6 NODMA
|
|
|
|
|
|
|
|
|
|
# ------------------- DMA assignment -------------------
|
|
|
|
|
DMA_PRIORITY ADC1 SPI1* SPI2* TIM1* TIM8* TIM3* UART2*
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# ------------------- IMU ICM42605 ---------------------
|
|
|
|
|
SPIDEV icm42605 SPI1 DEVID1 IMU_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
|
IMU Invensensev3 SPI:icm42605 ROTATION_YAW_90
|
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# ------------------ OSD AT7456E ----------------------
|
|
|
|
|
SPIDEV osd SPI1 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
|
|
|
|
|
|
define OSD_ENABLED 1
|
|
|
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
|
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# --------------------- SD & FLASH ----------------------
|
|
|
|
|
SPIDEV sdcard SPI2 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
|
|
|
SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
|
|
|
|
|
|
|
|
|
|
define HAL_LOGGING_DATAFLASH_ENABLED 1
|
|
|
|
|
|
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
|
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# ----------------- I2C compass & Baro -----------------
|
|
|
|
|
# no built-in compass, but 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
|
|
|
|
|
|
|
|
|
|
# built-in barometer
|
|
|
|
|
BARO SPL06 I2C:0:0x76
|
2022-10-19 09:25:59 -03:00
|
|
|
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
|
|
|
|
|
define AP_BARO_SPL06_ENABLED 1
|
2021-12-13 22:10:19 -04:00
|
|
|
|
|
|
|
|
|
|
|
|
|
# --------------------- ADC ---------------------------
|
|
|
|
|
PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
|
|
|
PC5 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
|
PB0 RSSI_ADC_PIN ADC1 SCALE(1)
|
|
|
|
|
PC0 PRESSURE_SENS ADC1 SCALE(1)
|
|
|
|
|
|
|
|
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
|
|
|
|
|
|
|
|
define HAL_BATT_VOLT_PIN 14
|
|
|
|
|
define HAL_BATT_VOLT_SCALE 21.0
|
|
|
|
|
|
|
|
|
|
define HAL_BATT_CURR_PIN 15
|
|
|
|
|
define HAL_BATT_CURR_SCALE 66.7
|
|
|
|
|
|
|
|
|
|
define BOARD_RSSI_ANA_PIN 8
|
|
|
|
|
define HAL_DEFAULT_AIRSPEED_PIN 10
|
|
|
|
|
|
|
|
|
|
# -------reduce max size of embedded params for apj_tool.py
|
|
|
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
|
2022-06-27 04:07:48 -03:00
|
|
|
define HAL_GYROFFT_ENABLED 0
|
2021-12-13 22:10:19 -04:00
|
|
|
|
|
|
|
|
# --------------------- save flash ----------------------
|
2022-10-25 02:17:01 -03:00
|
|
|
# save some flash
|
|
|
|
|
include ../include/save_some_flash.inc
|
2023-06-11 21:17:08 -03:00
|
|
|
include ../include/no_bootloader_DFU.inc
|
2023-03-06 22:02:49 -04:00
|
|
|
define AP_BATTERY_SMBUS_ENABLED 0
|
2021-12-13 22:10:19 -04:00
|
|
|
define HAL_PARACHUTE_ENABLED 0
|
|
|
|
|
define HAL_SPRAYER_ENABLED 0
|
2022-09-20 04:37:47 -03:00
|
|
|
define AP_GRIPPER_ENABLED 0
|
2021-12-13 22:10:19 -04:00
|
|
|
define HAL_RUNCAM_ENABLED 0
|
|
|
|
|
define HAL_HOTT_TELEM_ENABLED 0
|
|
|
|
|
define HAL_NMEA_OUTPUT_ENABLED 0
|
|
|
|
|
define HAL_BUTTON_ENABLED 0
|
2022-11-16 03:56:01 -04:00
|
|
|
define AP_NOTIFY_OREOLED_ENABLED 0
|
2021-12-13 22:10:19 -04:00
|
|
|
define HAL_PICCOLO_CAN_ENABLE 0
|
2023-03-06 22:02:49 -04:00
|
|
|
define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
|
