ardupilot/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat

# hw definition file for processing by chibios_pins.py
# Matek F405-Wing, developed by David Ingraham
# Board configuration borrowed from Inav F405SE target

# Read hwdef/fmuv3/hwdef.dat for more info on these options

# SerialX ports are mapped as printed on the top board
# R1/T1 -> Serial1
# R2 -> Sbus (T2 not currently used or available)
# R3/T3 -> Serial3
# R4/T4 -> Serial4
# R5/T5 -> Serial5
# R6/T6 -> Serial6

# Note: UART4/Serial4, UART5/Serial5, USART6/Serial6 have no DMA on RX (TX always DMA).
# If sending highspeed serial data (eg. 921600 baud) to the board, use Serial1/Serial3.

#################################################
###             MCU CONFIGURATION             ###
#################################################

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 127

# crystal frequency
OSCILLATOR_HZ 8000000

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 15360
STORAGE_FLASH_PAGE 1


# I2C Buses
I2C_ORDER I2C1 I2C2

# order of UARTs
SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 UART5 USART6 USART2

#################################################
###             PIN DEFINITIONS               ###
#################################################

PA0 UART4_TX UART4
PA1 UART4_RX UART4

# 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)

PA4 MPU_CS CS

# IMU SPI
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

PA9 USART1_TX USART1
PA10 USART1_RX USART1

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA14 LED_BLUE OUTPUT LOW GPIO(0)
PA13 LED_GREEN OUTPUT LOW GPIO(1) # optional

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1


#pwm output
PB7  TIM4_CH2  TIM4 PWM(1) GPIO(50)
PB6  TIM4_CH1  TIM4 PWM(2) GPIO(51)
PB0  TIM3_CH3  TIM3 PWM(3) GPIO(52)
PB1  TIM3_CH4  TIM3 PWM(4) GPIO(53)
PC8  TIM8_CH3  TIM8 PWM(5) GPIO(54)
PC9  TIM8_CH4  TIM8 PWM(6) GPIO(55)
PB14 TIM1_CH2N TIM1 PWM(7) GPIO(56)
PB15 TIM1_CH3N TIM1 PWM(8) GPIO(57)
PA8  TIM1_CH1  TIM1 PWM(9) GPIO(58)
PA15 TIM2_CH1  TIM2 PWM(10) GPIO(59) #on LED pin,allows odd motor groups


# SD CARD SPI
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PC14 SDCARD_CS CS

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# OSD SPI
PB12 OSD_CS CS
PB13 SPI2_SCK SPI2
PC2  SPI2_MISO SPI2
PC3  SPI2_MOSI SPI2

PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

PC5 RSSI_ADC_PIN ADC1 SCALE(1)

PC6  USART6_TX USART6
PC7  USART6_RX USART6

PC10 USART3_TX USART3
PC11 USART3_RX USART3

PC12 UART5_TX UART5
PD2  UART5_RX UART5

PC13 VBUS INPUT OPENDRAIN

PC15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

#################################################
###                 DEVICES                   ###
#################################################

# one IMU on SPI1
SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3  1*MHZ  4*MHZ
SPIDEV icm42688  SPI1 DEVID1 MPU_CS   MODE3  2*MHZ 16*MHZ

# OSD on SPI
SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ

# SD Card on SPI
SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ

# one IMU, multiple possible choice
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180

# one baro, multiple possible choices for different board variants
BARO BMP280 I2C:0:0x76
BARO DPS310 I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_BMP280_ENABLED 1
define AP_BARO_DPS280_ENABLED 1

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 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 31.7

#analog rssi pin (also could be used as analog airspeed input)
# PC5 - ADC12_CH15
define BOARD_RSSI_ANA_PIN 15

# 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

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

define STM32_PWM_USE_ADVANCED TRUE

# disable SMBUS battery monitors to save flash
define AP_BATTERY_SMBUS_ENABLED 0

# disable parachute and sprayer to save flash
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0

# reduce max size of embedded params for apj_tool.py
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
define HAL_GYROFFT_ENABLED 0

# save some flash
include ../include/save_some_flash.inc
define AP_GRIPPER_ENABLED 0
define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
define AP_BATTERY_SMBUS_ENABLED 0
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0
define HAL_RUNCAM_ENABLED 0
define HAL_HOTT_TELEM_ENABLED 0
define HAL_NMEA_OUTPUT_ENABLED 0
define HAL_BUTTON_ENABLED 0
define AP_NOTIFY_OREOLED_ENABLED 0
define HAL_PICCOLO_CAN_ENABLE 0

# only include ublox GPS driver
include ../include/minimal_GPS.inc