# hw definition file for processing by chibios_hwdef.py # for QioTekZealotF427 hardware from Qio-tek.com # MCU class and specific type MCU STM32F4xx STM32F427xx # board ID for firmware load APJ_BOARD_ID 1021 FLASH_SIZE_KB 2048 env OPTIMIZE -O2 # crystal frequency OSCILLATOR_HZ 24000000 # this is the STM32 timer that ChibiOS will use for the low level # driver. This must be a 32 bit timer. We currently only support # timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details # ChibiOS system timer STM32_ST_USE_TIMER 5 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # this is the pin that senses USB being connected. It is an input pin # setup as OPENDRAIN PA9 VBUS INPUT OPENDRAIN # The normal usage of this ordering is: # 1) SERIAL0: console (primary mavlink, usually USB) # 2) SERIAL1: telem1 # 3) SERIAL2: telem2 (recommend ESP8266) # 4) SERIAL3: primary GPS # 5) SERIAL4: telem3 or GPS2 # 6) SERIAL5: extra UART or sbus output (usually RTOS debug console) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 # UART1 PB6 USART1_TX USART1 PB7 USART1_RX USART1 # USART2 for Mavlink2 wifi module set baudrate to 921600 PD5 USART2_TX USART2 NODMA PD6 USART2_RX USART2 define HAL_SERIAL2_PROTOCOL SerialProtocol_MAVLink2 define HAL_SERIAL2_BAUD 921600 # USART3 for gps1 PD8 USART3_TX USART3 NODMA PD9 USART3_RX USART3 # UART4 PC10 UART4_TX UART4 NODMA PC11 UART4_RX UART4 NODMA # UART5 PC12 UART5_TX UART5 NODMA PD2 UART5_RX UART5 NODMA # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 define HAL_STORAGE_SIZE 16384 # SPI1 for IMU Baro OSD PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA4 ICM20689_CS CS PE10 MAX7456_CS CS PB2 ICM20602_CS CS PC15 DPS310_CS CS PD3 BMI055_G_CS CS PD4 BMI055_A_CS CS PA8 ICM20649_CS CS # SPI bus for dataflash AND SD PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB12 FRAM_CS CS SPEED_VERYLOW PE15 FLASH_CS CS # SPI3 bus for reserve PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ SPIDEV icm20649 SPI1 DEVID5 ICM20649_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42605 SPI1 DEVID5 ICM20649_CS MODE3 2*MHZ 8*MHZ SPIDEV dps310 SPI1 DEVID2 DPS310_CS MODE3 5*MHZ 5*MHZ SPIDEV osd SPI1 DEVID2 MAX7456_CS MODE0 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 1*MHZ 8*MHZ # Three IMUs, icm20649 for reserve IMU Invensense SPI:icm20689 ROTATION_NONE IMU Invensense SPI:icm20602 ROTATION_NONE IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 IMU Invensensev2 SPI:icm20649 ROTATION_NONE IMU Invensensev3 SPI:icm42605 ROTATION_PITCH_180_YAW_270 # one baro, check both addressess BARO DPS280 SPI:dps310 BARO MS56XX I2C:0:0x76 BARO MS56XX I2C:0:0x77 # enable RAMTROM parameter storage define HAL_WITH_RAMTRON 1 # enable FAT filesystem support define HAL_OS_FATFS_IO 1 # now some defines for logging and terrain data files define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" # define the order that I2C buses I2C_ORDER I2C2 I2C1 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # look for I2C compass COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270 COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 1 # PWM out pins PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51) PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52) PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53) PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54) PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55) PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56) PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57) PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58) PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59) PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60) PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61) PC9 TIM3_CH4 TIM3 PWM(13) GPIO(62) NODMA PC8 TIM3_CH3 TIM3 PWM(14) GPIO(63) NODMA PC14 EXTERN_GPIO1 OUTPUT GPIO(1) PC13 EXTERN_GPIO2 OUTPUT GPIO(2) PE4 EXTERN_GPIO3 OUTPUT GPIO(3) PE6 EXTERN_GPIO4 OUTPUT GPIO(4) define RELAY1_PIN_DEFAULT 1 define RELAY2_PIN_DEFAULT 2 define RELAY3_PIN_DEFAULT 3 define RELAY4_PIN_DEFAULT 4 # also USART6_RX for serial RC PC7 TIM8_CH2 TIM8 RCININT PULLUP LOW # LED setup is similar to PixRacer define HAL_HAVE_PIXRACER_LED PE3 LED_RED OUTPUT GPIO(10) PE2 LED_GREEN OUTPUT GPIO(11) PE1 LED_BLUE OUTPUT GPIO(12) PE0 LED_YELOW OUTPUT GPIO(13) define HAL_GPIO_A_LED_PIN 10 define HAL_GPIO_B_LED_PIN 11 define HAL_GPIO_C_LED_PIN 12 define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 # analog in PC0 PRESSURE_SENS ADC1 SCALE(2) PC1 RSSI_IN ADC1 SCALE(2) # define the primary battery connectors. PC2 BATT_CURRENT_SENS ADC1 SCALE(2) PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2) PB0 BATT2_CURRENT_SENS ADC1 SCALE(2) PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(2) PC4 VDD_5V_SENS ADC1 SCALE(2) PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12) define HAL_BATT_VOLT_PIN 13 define HAL_BATT_CURR_PIN 12 define HAL_BATT2_VOLT_PIN 9 define HAL_BATT2_CURR_PIN 8 define HAL_BATT_VOLT_SCALE 20 define HAL_BATT_CURR_SCALE 17 define HAL_BATT2_VOLT_SCALE 20 define HAL_BATT2_CURR_SCALE 17 define HAL_HAVE_IMU_HEATER 1 PE12 HEATER_EN OUTPUT LOW GPIO(5) define HAL_HEATER_GPIO_PIN 5 define HAL_IMU_TEMP_DEFAULT 45 define HAL_HAVE_SAFETY_SWITCH 1 PE7 LED_SAFETY OUTPUT PE8 SAFETY_IN INPUT PULLDOWN PE5 TIM9_CH1 TIM9 ALARM # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # drdy pins PA15 DRDY_ICM20689 INPUT PA10 DRDY_ICM20602 INPUT PD11 DRDY_ICM20649 INPUT