# hw definition file for processing by chibios_pins.py # for Holybro KakuteF7 Mini hardware. @ thanks to betaflight for pin information # MCU class and specific type MCU STM32F7xx STM32F745xx # board ID for firmware load APJ_BOARD_ID 145 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 FLASH_SIZE_KB 1024 # leave 2 sectors free FLASH_RESERVE_START_KB 96 # only one I2C bus I2C_ORDER I2C1 # order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 # buzzer PD15 TIM4_CH4 TIM4 GPIO(77) ALARM #PD15 BUZZER OUTPUT GPIO(80) LOW #define HAL_BUZZER_PIN 80 #define HAL_BUZZER_ON 1 #define HAL_BUZZER_OFF 0 # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 for M25P16 dataflash PA4 FLASH_CS CS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 for MAX7456 OSD PB12 MAX7456_CS CS PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI4 for ICM20689 PE4 ICM20689_CS CS PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # I2C1 for baro PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 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 28.5 PC5 RSSI_ADC ADC1 PA2 LED0 OUTPUT LOW # In order to accommodate bi-directional dshot certain devices cannot be DMA enabled # NODMA indicates these devices, if you remove it they will still not be resolved for DMA # USART1 PA10 USART1_RX USART1 NODMA PA9 USART1_TX USART1 NODMA # USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 # USART3 (GPS) PB11 USART3_RX USART3 PB10 USART3_TX USART3 # UART4 (GPS2) PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 NODMA # RC input defaults to UART to allow for bi-dir dshot PC6 USART6_TX USART6 PC7 USART6_RX USART6 define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN define HAL_SERIAL6_BAUD 115 # UART7, RX only for ESC Telemetry # No DMA because SPI2 requires the DMA slot PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA LOW # Motors, bi-directional dshot capable PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) # M1 PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) # M2 CH1 and CH2 can share ICU Channel for BIDIR PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR # M4 PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) BIDIR # M3 # These are not DMA enabled so not dshot capable # To get dshot (but not bi-dir dshot) remove the NODMA and add NODMA to USART6 PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) NODMA # M5 PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6 # extra PWM outs #PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin #PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer) DMA_PRIORITY ADC* USART6* TIM1* TIM3* SPI4* SPI1* DMA_NOSHARE SPI4_RX define HAL_STORAGE_SIZE 16384 define STORAGE_FLASH_PAGE 1 # enable logging to dataflash define HAL_LOGGING_DATAFLASH # spi devices SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ # 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 # one IMU IMU Invensense SPI:mpu6000 ROTATION_YAW_180 # one BARO BARO BMP280 I2C:0:0x76 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin define BOARD_PWM_COUNT_DEFAULT 6 define STM32_PWM_USE_ADVANCED TRUE # disable SMBUS and fuel battery monitors to save flash define HAL_BATTMON_SMBUS_ENABLE 0 define HAL_BATTMON_FUEL_ENABLE 0 # disable parachute and sprayer to save flash define HAL_PARACHUTE_ENABLED 0 define HAL_SPRAYER_ENABLED 0 # reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 define HAL_MOUNT_ENABLED 0