mirror of https://github.com/ArduPilot/ardupilot
196 lines
4.6 KiB
Plaintext
196 lines
4.6 KiB
Plaintext
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# hw definition file for MATEK M9N-F405
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# bootloader starts firmware at 64k
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 1024
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# store parameters in pages 11 and 12
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STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 16384
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# board ID for firmware load
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APJ_BOARD_ID 1054
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# --------------------- LED -----------------------
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PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT
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PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E
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define HAL_GPIO_A_LED_PIN 91
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define HAL_GPIO_B_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# --------------------- PWM -----------------------
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PC9 TIM8_CH4 TIM8 PWM(1) GPIO(50)
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PC8 TIM8_CH3 TIM8 PWM(2) GPIO(51)
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PB15 TIM1_CH3N TIM1 PWM(3) GPIO(52)
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PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PB11 TIM2_CH4 TIM2 PWM(5) GPIO(54)
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PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55)
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PB3 TIM2_CH2 TIM2 PWM(7) GPIO(56)
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PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57)
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PB14 TIM12_CH1 TIM12 PWM(9) GPIO(58) NODMA
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PA6 TIM13_CH1 TIM13 PWM(10) GPIO(59) NODMA
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PB6 TIM4_CH1 TIM4 PWM(11) GPIO(60) NODMA
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PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61) # LED pad
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define STM32_PWM_USE_ADVANCED TRUE
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# Beeper
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PB9 TIM11_CH1 TIM11 GPIO(32) ALARM
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# GPIOs
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PA4 PINIO1 OUTPUT GPIO(81) LOW
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PB5 PINIO2 OUTPUT GPIO(82) LOW
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# --------------------- SPI1 -----------------------
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PC14 IMU_CS CS
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PB12 OSD_CS CS
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# --------------------- SPI2 -----------------------
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PB13 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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PC13 FLASH_CS CS
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PC1 SDCARD_CS CS
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# -------------------- I2C bus --------------------
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I2C_ORDER I2C1
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PB8 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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define HAL_I2C_INTERNAL_MASK 0
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# --------------------- UARTs ---------------------------
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SERIAL_ORDER OTG1 USART1 USART3 UART5 UART4 USART6 USART2
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2, RC input
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# alternative using USART2
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2 ALT(1)
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# default to timer for RC input
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PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
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# USART3
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PC10 USART3_TX USART3 NODMA
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PC11 USART3_RX USART3 NODMA
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# UART4
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# UART5, for GPS
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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# USART6
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6 NODMA
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# ------------------- DMA assignment -------------------
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DMA_PRIORITY ADC1 SPI1* SPI2* TIM1* TIM8* TIM3* UART2*
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# ------------------- IMU ICM42605 ---------------------
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SPIDEV icm42605 SPI1 DEVID1 IMU_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42605 ROTATION_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# ------------------ OSD AT7456E ----------------------
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SPIDEV osd SPI1 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
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# --------------------- SD & FLASH ----------------------
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SPIDEV sdcard SPI2 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# ----------------- I2C compass & Baro -----------------
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# built-in barometer
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BARO SPL06 I2C:0:0x76
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# --------------------- ADC ---------------------------
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PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC5 BATT_CURRENT_SENS ADC1 SCALE(1)
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PB0 RSSI_ADC_PIN ADC1 SCALE(1)
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PC0 PRESSURE_SENS ADC1 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 14
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define HAL_BATT_VOLT_SCALE 21.0
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define HAL_BATT_CURR_PIN 15
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define HAL_BATT_CURR_SCALE 66.7
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define BOARD_RSSI_ANA_PIN 8
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define HAL_DEFAULT_AIRSPEED_PIN 10
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# -------reduce max size of embedded params for apj_tool.py
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define AP_PARAM_MAX_EMBEDDED_PARAM 1024
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define HAL_WITH_DSP FALSE
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# --------------------- save flash ----------------------
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define HAL_BATTMON_SMBUS_ENABLE 0
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define HAL_BATTMON_FUEL_ENABLE 0
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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define HAL_GENERATOR_ENABLED 0
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define AC_OAPATHPLANNER_ENABLED 0
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define PRECISION_LANDING 0
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define HAL_BARO_WIND_COMP_ENABLED 0
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define GRIPPER_ENABLED 0
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define HAL_RUNCAM_ENABLED 0
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define HAL_HOTT_TELEM_ENABLED 0
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define HAL_NMEA_OUTPUT_ENABLED 0
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define HAL_BUTTON_ENABLED 0
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define HAL_OREO_LED_ENABLED 0
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define HAL_PICCOLO_CAN_ENABLE 0
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