# hw definition file for processing by chibios_pins.py # old F412 layout MCU STM32F4xx STM32F412Rx # board ID for firmware load APJ_BOARD_ID 9 # short board name override (13 chars) to match original max length; can't change because name is used for transmitter bind CRC define CHIBIOS_SHORT_BOARD_NAME "skyviper-f412" # crystal frequency OSCILLATOR_HZ 24000000 STM32_PWM_USE_TIM3 TRUE # flash size FLASH_SIZE_KB 1024 # serial port for stdout STDOUT_SERIAL SD2 STDOUT_BAUDRATE 115200 # order of I2C buses I2C_ORDER I2C2 I2C1 # order of UARTs SERIAL_ORDER USART2 USART3 EMPTY USART6 PC0 MGND ADC1 PC1 PWM4_SENSE ADC1 PC2 PWM2_SENSE ADC1 PC3 PWM1_SENSE ADC1 PA0 PWM3_SENSE ADC1 # USART2 is for debug PA2 USART2_TX USART2 PA3 USART2_RX USART2 PA4 BATT_MON ADC1 # SPI1 is radio PA5 SPI1_SCK SPI1 PB4 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA15 RADIO_CS CS PC4 RADIO_CE OUTPUT PC5 RADIO_PA_CTL OUTPUT # SPI5 is flow PB0 SPI5_SCK SPI5 PA12 SPI5_MISO SPI5 PA10 SPI5_MOSI SPI5 PB1 FLOW_CS CS PB2 BOOT1 INPUT # I2C2 is GPS/mag PB10 I2C2_SCL I2C2 PB3 I2C2_SDA I2C2 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # I2C1 is 20789 PB9 I2C1_SDA I2C1 PB8 I2C1_SCL I2C1 PB7 LEDF OUTPUT HIGH GPIO(0) PB6 LEDR OUTPUT HIGH GPIO(1) PB5 TIM3_CH2 TIM3 PWM(2) # marked CN15 front-right PD2 RADIO_IRQ INPUT GPIO(100) # USART3 is sonix PC11 USART3_RX USART3 PC10 USART3_TX USART3 # USART6 is for GPS PA11 USART6_TX USART6 PC7 USART6_RX USART6 PA8 OF_MOTION INPUT PC9 TIM3_CH4 TIM3 PWM(4) # marked CN17, rear-right PC8 TIM3_CH3 TIM3 PWM(3) # marked CN13, rear-left PC6 TIM3_CH1 TIM3 PWM(1) # marked CN3, front-left # SPI2 is MPU PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB12 MPU_CS CS # SPI Device table SPIDEV cypress SPI1 DEVID1 RADIO_CS MODE0 2*MHZ 2*MHZ SPIDEV cc2500 SPI1 DEVID1 RADIO_CS MODE0 4*MHZ 4*MHZ SPIDEV pixartflow SPI5 DEVID2 FLOW_CS MODE3 2*MHZ 2*MHZ SPIDEV icm20789 SPI2 DEVID4 MPU_CS MODE3 1*MHZ 8*MHZ # reserve 16k for bootloader and 32k for storage FLASH_RESERVE_START_KB 48 define HAL_CHIBIOS_ARCH_F412 1 IMU Invensense SPI:icm20789 ROTATION_NONE # radio IRQ is on GPIO(100) define HAL_GPIO_RADIO_IRQ 100 define HAL_RCINPUT_WITH_AP_RADIO 1 STORAGE_FLASH_PAGE 1 define HAL_STORAGE_SIZE 15360 # setup defines for ArduCopter config define TOY_MODE_ENABLED ENABLED define ARMING_DELAY_SEC 0 define LAND_START_ALT 700 define LAND_DETECTOR_ACCEL_MAX 2.0f COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE define HAL_BARO_DEFAULT HAL_BARO_20789_I2C_SPI define HAL_BARO_20789_I2C_BUS 1 define HAL_BARO_20789_I2C_ADDR_PRESS 0x63 # Disable un-needed hardware drivers define HAL_WITH_ESC_TELEM 0 define AP_FETTEC_ONEWIRE_ENABLED 0 # bootloader embedding / bootloader flashing not available define AP_BOOTLOADER_FLASHING_ENABLED 0 AUTOBUILD_TARGETS Copter