# hw definition file for processing by chibios_pins.py # for Foxeer Reaper AIO V2 F745 # thanks to betaflight for pin information # MCU class and specific type MCU STM32F7xx STM32F745xx # board ID for firmware load APJ_BOARD_ID 1074 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 FLASH_SIZE_KB 1024 # bootloader takes first sector FLASH_RESERVE_START_KB 96 # only one I2C bus I2C_ORDER I2C1 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7 # Buzzer - DMA timer channel use by LEDs PD2 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 define HAL_BUZZER_ON 1 define HAL_BUZZER_OFF 0 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # Debug PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 for OSD PA4 AT7456E_CS CS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 #PA15 FLASH_CS CS #PB13 SPI2_SCK SPI2 #PB14 SPI2_MISO SPI2 #PB15 SPI2_MOSI SPI2 # SPI3 for Gyro PA15 BMI270_CS CS PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 # SPI4 for Flash PE4 FLASH_CS CS PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # I2C1 for baro PB8 I2C1_SCL I2C1 PULLUP PB9 I2C1_SDA I2C1 PULLUP PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC2 BATT_CURRENT_SENS ADC1 SCALE(1) # define default battery setup define HAL_BATT_VOLT_PIN 13 define HAL_BATT_CURR_PIN 12 define HAL_BATT_VOLT_SCALE 10.9 define HAL_BATT_CURR_SCALE 100 define HAL_BATT_MONITOR_DEFAULT 4 PC5 RSSI_ADC ADC1 # USART1 (DJI RCIN) PA10 USART1_RX USART1 NODMA # USART2 (RX) PA2 USART2_TX USART2 PA3 USART2_RX USART2 define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN # USART3 PB10 USART3_TX USART3 NODMA PB11 USART3_RX USART3 NODMA # UART4 (Camera) PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 NODMA # UART7 (GPS) PE7 UART7_RX UART7 PE8 UART7_TX UART7 # Motor order implies Betaflight/X for standard ESCs define HAL_FRAME_TYPE_DEFAULT 12 # Motors PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # 1 PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51) # 2 PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR # 3 PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) # 4 # NeoPixel LED strip PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54) PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED DMA_PRIORITY USART2* TIM3* TIM1* define HAL_STORAGE_SIZE 16384 STORAGE_FLASH_PAGE 1 # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 # spi devices SPIDEV bmi270 SPI3 DEVID1 BMI270_CS MODE3 1*MHZ 4*MHZ SPIDEV dataflash SPI4 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ # no built-in compass and no external I2C so no compass define ALLOW_ARM_NO_COMPASS define HAL_I2C_INTERNAL_MASK 0 # one IMU bmi270 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # no BARO define HAL_BARO_ALLOW_INIT_NO_BARO 1 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin define STM32_PWM_USE_ADVANCED TRUE # save some flash 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_PARACHUTE_ENABLED 0 define HAL_SPRAYER_ENABLED 0 define AP_BATTMON_SMBUS_ENABLE 0 define AP_BATTMON_FUEL_ENABLE 0 define AP_OPTICALFLOW_ENABLED 0 define AP_ICENGINE_ENABLED 0