diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef-bl.dat new file mode 100644 index 0000000000..d6398e7f00 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef-bl.dat @@ -0,0 +1,35 @@ +# hw definition file for MATEK F405-TE + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# board ID for firmware load +APJ_BOARD_ID 1054 + +FLASH_RESERVE_START_KB 0 +FLASH_SIZE_KB 1024 +FLASH_BOOTLOADER_LOAD_KB 64 + +PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0) # blue +PA13 LED_ACTIVITY OUTPUT LOW GPIO(1) # Green +define HAL_LED_ON 0 + +# order of UARTs +SERIAL_ORDER OTG1 USART1 + +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + + +# Add CS pins to ensure they are high in bootloader +PC14 IMU_CS CS +PB12 OSD_CS CS +PC13 FLASH_CS CS +PC1 SDCARD_CS CS + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat new file mode 100644 index 0000000000..35e8c7d1e6 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat @@ -0,0 +1,195 @@ +# 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 16384 + +# board ID for firmware load +APJ_BOARD_ID 1054 + +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 ----------------------- +PC9 TIM8_CH4 TIM8 PWM(1) GPIO(50) +PC8 TIM8_CH3 TIM8 PWM(2) GPIO(51) +PB15 TIM1_CH3N TIM1 PWM(3) GPIO(52) +PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53) +PB11 TIM2_CH4 TIM2 PWM(5) GPIO(54) +PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55) +PB3 TIM2_CH2 TIM2 PWM(7) GPIO(56) +PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) + +PB14 TIM12_CH1 TIM12 PWM(9) GPIO(58) NODMA +PA6 TIM13_CH1 TIM13 PWM(10) GPIO(59) NODMA +PB6 TIM4_CH1 TIM4 PWM(11) GPIO(60) NODMA +PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61) # LED pad + +define STM32_PWM_USE_ADVANCED TRUE + +# Beeper +PB9 TIM11_CH1 TIM11 GPIO(32) ALARM + +# GPIOs +PA4 PINIO1 OUTPUT GPIO(81) LOW +PB5 PINIO2 OUTPUT GPIO(82) LOW + +# --------------------- SPI1 ----------------------- +PA5 SPI1_SCK SPI1 +PB4 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +PC14 IMU_CS CS +PB12 OSD_CS CS + + +# --------------------- SPI2 ----------------------- +PB13 SPI2_SCK SPI2 +PC2 SPI2_MISO SPI2 +PC3 SPI2_MOSI SPI2 + +PC13 FLASH_CS CS +PC1 SDCARD_CS CS + + +# -------------------- I2C bus -------------------- +I2C_ORDER I2C1 + +PB8 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +define HAL_I2C_INTERNAL_MASK 0 + +# --------------------- UARTs --------------------------- +SERIAL_ORDER OTG1 USART1 USART3 UART5 UART4 USART6 USART2 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# USART2, RC input +# alternative using USART2 +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 ALT(1) + +# default to timer for RC input +PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW + +# USART3 +PC10 USART3_TX USART3 NODMA +PC11 USART3_RX USART3 NODMA + +# UART4 +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA + +# UART5, for GPS +PC12 UART5_TX UART5 NODMA +PD2 UART5_RX UART5 NODMA + +# USART6 +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 NODMA + +# ------------------- DMA assignment ------------------- +DMA_PRIORITY ADC1 SPI1* SPI2* TIM1* TIM8* TIM3* UART2* + + +# ------------------- IMU ICM42605 --------------------- +SPIDEV icm42605 SPI1 DEVID1 IMU_CS MODE3 2*MHZ 8*MHZ +IMU Invensensev3 SPI:icm42605 ROTATION_YAW_90 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + + +# ------------------ OSD AT7456E ---------------------- +SPIDEV osd SPI1 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ + +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin + + +# --------------------- SD & FLASH ---------------------- +SPIDEV sdcard SPI2 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ +SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ + +define HAL_LOGGING_DATAFLASH_ENABLED 1 + +define HAL_OS_FATFS_IO 1 +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + + +# ----------------- I2C compass & Baro ----------------- +# no built-in compass, but probe the i2c bus for all possible +# external compass types +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 + +# built-in barometer +BARO SPL06 I2C:0:0x76 + + +# --------------------- ADC --------------------------- +PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC5 BATT_CURRENT_SENS ADC1 SCALE(1) +PB0 RSSI_ADC_PIN ADC1 SCALE(1) +PC0 PRESSURE_SENS ADC1 SCALE(1) + +define HAL_BATT_MONITOR_DEFAULT 4 + +define HAL_BATT_VOLT_PIN 14 +define HAL_BATT_VOLT_SCALE 21.0 + +define HAL_BATT_CURR_PIN 15 +define HAL_BATT_CURR_SCALE 66.7 + +define BOARD_RSSI_ANA_PIN 8 +define HAL_DEFAULT_AIRSPEED_PIN 10 + +# -------reduce max size of embedded params for apj_tool.py +define AP_PARAM_MAX_EMBEDDED_PARAM 1024 +define HAL_WITH_DSP FALSE + +# --------------------- save flash ---------------------- +define HAL_BATTMON_SMBUS_ENABLE 0 +define HAL_BATTMON_FUEL_ENABLE 0 +define HAL_PARACHUTE_ENABLED 0 +define HAL_SPRAYER_ENABLED 0 +define HAL_GENERATOR_ENABLED 0 +define AC_OAPATHPLANNER_ENABLED 0 +define PRECISION_LANDING 0 +define HAL_BARO_WIND_COMP_ENABLED 0 +define GRIPPER_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 HAL_OREO_LED_ENABLED 0 +define HAL_PICCOLO_CAN_ENABLE 0 +