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

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# hw definition file for MatekF405 hardware
# tested on the MatekF405-OSD board
# with thanks to betaflight for pinout
# STATUS:
# This port is mostly complete. Main missing feature are OSD,
# dataflash
# MCU class and specific type
MCU STM32F4xx STM32F405xx
# board ID for firmware load
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APJ_BOARD_ID 125
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# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8
define STM32_ST_USE_TIMER 4
define CH_CFG_ST_RESOLUTION 16
FLASH_SIZE_KB 1024
# board voltage
STM32_VDD 330U
# only one I2C bus
I2C_ORDER I2C1
# order of UARTs (and USB)
UART_ORDER OTG1 USART1 USART3 UART4 UART5
# LEDs
PB9 LED_BLUE OUTPUT LOW GPIO(0)
PA14 LED_GREEN OUTPUT LOW GPIO(1)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
# buzzer
PC13 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0
# spi1 bus for IMU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# spi2 for OSD
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB10 MAX7456_CS CS
# spi3 for sdcard and onboard flash
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PC1 SDCARD_CS CS
PC0 M25P16_CS CS
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PC2 MPU6000_CS CS
# only one I2C bus in normal config
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1
# analog pins
PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
PB1 RSSI_ADC_PIN ADC1 SCALE(1)
# define default battery setup
# PC5 - ADC12_CH15
define HAL_BATT_VOLT_PIN 15
# PC4 - ADC12_CH14
define HAL_BATT_CURR_PIN 14
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define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0
#analog rssi pin (also could be used as analog airspeed input)
# PB1 - ADC12_CH9
define BOARD_RSSI_ANA_PIN 9
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# USART1
PA9 USART1_TX USART1
PA10 USART1_RX USART1
# USART2 (RCIN)
#PA2 USART3_TX USART3
#PA3 USART3_RX USART3
# rcinput
PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW
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# USART3
PC10 USART3_TX USART3
PC11 USART3_RX USART3
# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4
# UART5
PD2 UART5_RX UART5
PC12 UART5_TX UART5
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# USB detection
PB12 VBUS INPUT OPENDRAIN
# debug (disabled out to allow for both LEDs)
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD
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# PWM out pins. Note that channel order follows the ArduPilot motor
# order conventions
PC6 TIM3_CH1 TIM3 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)
PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
define HAL_STORAGE_SIZE 15360
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define STORAGE_FLASH_PAGE 2
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# reserve 32k for bootloader and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
# probe for I2C BMP280, but allow init on board variants without onboard baro too
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BARO BMP280 I2C:0:0x76
define HAL_PROBE_EXTERNAL_I2C_BAROS
define HAL_BARO_ALLOW_INIT_NO_BARO
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# no built-in compass, but probe the i2c bus for all possible
# external compass types
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define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# SPI devices
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
# filesystem setup on sdcard
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# 8 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 8
# uncomment the lines below to enable strict API
# checking in ChibiOS
#define CH_DBG_ENABLE_ASSERTS TRUE
#define CH_DBG_ENABLE_CHECKS TRUE
#define CH_DBG_SYSTEM_STATE_CHECK TRUE
#define CH_DBG_ENABLE_STACK_CHECK TRUE
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# setup for OSD
define OSD_ENABLED ENABLED
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin