# 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_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 # ---------------------- 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 # 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 define DEFAULT_NTF_LED_TYPES 455