ardupilot/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat

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# hw definition file for f405 Matek CAN GPS
# 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 2 and 3
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 15360
# board ID for firmware load
APJ_BOARD_ID 1014
env AP_PERIPH 1
define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32
# enable watchdog
# crystal frequency
OSCILLATOR_HZ 8000000
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600
# blue LED0 marked as ACT
PA14 LED OUTPUT HIGH
define HAL_LED_ON 1
define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64
# debug (disabled to allow for PA14 LED above), to enable debugging disable the use of PA14 above
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD
# avoid timer and RCIN threads to save memory
define HAL_NO_RCIN_THREAD
define HAL_USE_RTC FALSE
define DISABLE_SERIAL_ESC_COMM TRUE
define DMA_RESERVE_SIZE 0
define HAL_DISABLE_LOOP_DELAY
define HAL_NO_MONITOR_THREAD
define HAL_MINIMIZE_FEATURES 0
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256
# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the bootloader at runtime
env ROMFS_UNCOMPRESSED True
# --------------------- SPI1 IMU -----------------------
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 MPU_CS CS
# SPIDEV icm20602 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ
# IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90
# --------------------- SPI2 RM3100 --------------------
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 MAG_CS CS
# ---------------------- SPI3 SD ------------------------
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PC14 SDCARD_CS CS
# ---------------------- I2C bus ------------------------
I2C_ORDER I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 1
# ---------------------- CAN bus -------------------------
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
# use DNA for node allocation
define CAN_APP_NODE_NAME "org.ardupilot.f405_MatekGPS"
# ---------------------- UARTs ---------------------------
# | sr0 | sr1 | sr2 | GPS | MSP |
SERIAL_ORDER USART1 USART2 USART3 UART4 UART5
# USART1, for debug
PA9 USART1_TX USART1 SPEED_HIGH NODMA
PA10 USART1_RX USART1 SPEED_HIGH NODMA
# USART2
PA2 USART2_TX USART2 SPEED_HIGH NODMA
PA3 USART2_RX USART2 SPEED_HIGH NODMA
# USART3
PC10 USART3_TX USART3 SPEED_HIGH NODMA
PC11 USART3_RX USART3 SPEED_HIGH NODMA
# UART4, for GPS
PA0 UART4_TX UART4 SPEED_HIGH NODMA
PA1 UART4_RX UART4 SPEED_HIGH NODMA
# USART5, for MSP
PC12 UART5_TX UART5 SPEED_HIGH
PD2 UART5_RX UART5 SPEED_HIGH
# --------------------- PWM -----------------------
PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50)
PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51)
PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52)
PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53)
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
# PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
# PB7 TIM4_CH2 TIM4 PWM(8) GPIO(57)
# WS2812 LED pin
PA15 TIM2_CH1 TIM2 PWM(7) GPIO(58)
# Beeper
PA8 TIM1_CH1 TIM1 GPIO(32) ALARM
# ----------------------- GPS ----------------------------
define HAL_PERIPH_ENABLE_GPS
define GPS_MAX_RATE_MS 200
define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
# ---------------------- COMPASS ---------------------------
define HAL_PERIPH_ENABLE_MAG
SPIDEV rm3100 SPI2 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
define HAL_COMPASS_MAX_SENSORS 1
# added QMC5883L for different board varients
COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
# --------------------- DPS310 ---------------------------
define HAL_PERIPH_ENABLE_BARO
define HAL_BARO_ALLOW_INIT_NO_BARO
BARO DPS310 I2C:0:0x76
# ------------------ I2C airspeed -------------------------
define HAL_PERIPH_ENABLE_AIRSPEED
# MS4525 sensor by default
define HAL_AIRSPEED_TYPE_DEFAULT 1
define AIRSPEED_MAX_SENSORS 1
# -------------------- MSP --------------------------------
define HAL_PERIPH_ENABLE_MSP
define HAL_MSP_ENABLED 1
define AP_PERIPH_MSP_PORT_DEFAULT 4
# ----------------- rangefinder,ADSB ----------------------
define HAL_PERIPH_ENABLE_RANGEFINDER
define RANGEFINDER_MAX_INSTANCES 1
# disable rangefinder by default
define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
# ------------------ BATTERY Monitor -----------------------
define HAL_PERIPH_ENABLE_BATTERY
define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
# define HAL_DISABLE_ADC_DRIVER TRUE
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
# PC2 RSSI_ADC_PIN ADC1 SCALE(1)
# PC3 PRESSURE_SENS ADC1 SCALE(1)
PC5 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
# define BOARD_RSSI_ANA_PIN 12
# define HAL_DEFAULT_AIRSPEED_PIN 13
# Set the Default Battery Monitor Type to be Off
define HAL_BATT_MONITOR_DEFAULT 0
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_VOLT_SCALE 21.0
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 40.0
define HAL_BATT2_VOLT_PIN 15
define HAL_BATT2_VOLT_SCALE 11.0
# -------------------- Buzzer+NeoPixels --------------d------
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY