# hw definition file for processing by chibios_hwdef.py # for KAKUTEF4WING hardware. # thanks to betaflight for pin information # MCU class and specific type MCU STM32F4xx STM32F405xx # board ID for firmware load APJ_BOARD_ID AP_HW_Holybro-KakuteF4-Wing # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 FLASH_SIZE_KB 1024 # bootloader takes first sector FLASH_RESERVE_START_KB 48 define HAL_STORAGE_SIZE 16384 define STORAGE_FLASH_PAGE 1 define STM32_ST_USE_TIMER 9 define CH_CFG_ST_RESOLUTION 16 # SPI devices # SPI1 PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 PB13 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 # SPI3 PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 # Chip select pins PC14 FLASH1_CS CS PC15 OSD1_CS CS PA4 GYRO1_CS CS # SERIAL ports SERIAL_ORDER OTG1 USART1 USART2 USART3 EMPTY UART5 USART6 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # This is the pin that senses USB being connected. It is an input pin # setup as OPENDRAIN. PA10 VBUS INPUT OPENDRAIN # USART1 PB7 USART1_RX USART1 PB6 USART1_TX USART1 define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS # USART2 PA2 USART2_TX USART2 PA3 USART2_RX USART2 NODMA define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MAVLink2 # USART3 - RX PC10 USART3_TX USART3 PC11 USART3_RX USART3 define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN # SBUS inversion control pin, active high PC13 USART3_RXINV OUTPUT HIGH GPIO(78) POL(1) # UART5 PC12 UART5_TX UART5 NODMA PD2 UART5_RX UART5 NODMA # USART6 PC6 USART6_TX USART6 NODMA PC7 USART6_RX USART6 NODMA # I2C ports I2C_ORDER I2C2 # I2C2 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # Servos # ADC ports # ADC1 PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) define HAL_BATT_VOLT_PIN 10 define HAL_BATT_VOLT_SCALE 11.0 PC1 BATT_CURRENT_SENS ADC1 SCALE(1) define HAL_BATT_CURR_PIN 11 define HAL_BATT_CURR_SCALE 40 define HAL_BATT_MONITOR_DEFAULT 4 # MOTORS PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) # M1 PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51) BIDIR # M2 PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) # M3 PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4 PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # M5 PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) # M6 # LEDs PA1 TIM5_CH2 TIM5 PWM(7) GPIO(56) # M7 define AP_NOTIFY_GPIO_LED_1_ENABLED 1 PC5 LED_BLUE OUTPUT LOW GPIO(90) define AP_NOTIFY_GPIO_LED_1_PIN 90 # GPIOs PB14 PINIO1 OUTPUT GPIO(81) LOW PB15 PINIO2 OUTPUT GPIO(82) LOW # Dataflash setup SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ define HAL_LOGGING_DATAFLASH_ENABLED 1 # OSD setup SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # IMU setup SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ # one IMU IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90 DMA_PRIORITY I2C2* SPI3* # Baro setup BARO SPL06 I2C:0:0x76 define AP_BARO_BACKEND_DEFAULT_ENABLED 0 define AP_BARO_SPL06_ENABLED 1 # no built-in compass, but probe the i2c bus for all possible # external compass types define ALLOW_ARM_NO_COMPASS define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 define HAL_DEFAULT_INS_FAST_SAMPLE 1 define HAL_FRAME_TYPE_DEFAULT 12 # minimal drivers to reduce flash usage include ../include/minimize_fpv_osd.inc