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

# 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
define HAL_STORAGE_SIZE 15360

# board ID for firmware load
APJ_BOARD_ID 1014

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 -----------------------
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)

PA15 TIM2_CH1  TIM2 PWM(9) GPIO(58)  # LED pin

define STM32_PWM_USE_ADVANCED TRUE

# Beeper
PA8 TIM1_CH1 TIM1 GPIO(32) ALARM


# --------------------- SPI1 -----------------------
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 MPU_CS CS


# --------------------- SPI2 -----------------------
PB13  SPI2_SCK SPI2
PB14  SPI2_MISO SPI2
PB15  SPI2_MOSI SPI2
PB12  MAG_CS CS

# --------------------- SPI3 -----------------------
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_INTERNAL_MASK 0


# -------------------- CAN bus ---------------------
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)

# reduce memory usage
define UAVCAN_NODE_POOL_SIZE 1024


# --------------------- UARTs ---------------------------
SERIAL_ORDER OTG1 USART1 USART3 UART4 UART5 USART2

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1
PA9  USART1_TX USART1
PA10 USART1_RX USART1

# USART2
# alternative using USART2
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA ALT(1)

# default to timer for RC input
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW

# USART3
PC10  USART3_TX USART3
PC11  USART3_RX USART3

# UART4, for GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# USART5
PC12 UART5_TX UART5
PD2  UART5_RX UART5


# --------------------- ICM20602 -----------------------
SPIDEV icm20602 SPI1 DEVID1  MPU_CS MODE3  1*MHZ  4*MHZ
IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1


# --------------------- RM3100 -------------------------
SPIDEV  rm3100 SPI2 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

# also probe for external compasses
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES


# --------------------- SD ----------------------------
SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ

define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"


# --------------------- DPS310 ------------------------
BARO DPS280 I2C:0:0x76


# --------------------- ADC ---------------------------
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 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 BOARD_RSSI_ANA_PIN 12
define HAL_DEFAULT_AIRSPEED_PIN 13

define HAL_BATT2_VOLT_PIN 15
define HAL_BATT2_VOLT_SCALE 11.0


# --------------------- save flash ----------------------
include ../include/minimize_features.inc
include ../include/minimal_GPS.inc

define AP_BATTMON_SMBUS_ENABLE 0
define HAL_PARACHUTE_ENABLED 0

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