include ../MatekL431/hwdef.inc define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Periph" # --------------------- PWM ----------------------- PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51) PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52) PA11 TIM1_CH4 TIM1 PWM(4) GPIO(53) PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) # Beeper PA6 TIM16_CH1 TIM16 GPIO(32) ALARM # ----------------------- GPS ---------------------------- define HAL_PERIPH_ENABLE_GPS define GPS_MAX_RATE_MS 200 define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_PERIPH_GPS_PORT_DEFAULT 2 # allow for F9P GPS modules with moving baseline define GPS_MOVING_BASELINE 1 # ---------------------- COMPASS --------------------------- define HAL_PERIPH_ENABLE_MAG SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180 define HAL_COMPASS_MAX_SENSORS 1 # added QMC5883L for different board varients COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 # --------------------- Barometer --------------------------- define HAL_PERIPH_ENABLE_BARO define HAL_BARO_ALLOW_INIT_NO_BARO BARO SPL06 I2C:0:0x76 # ------------------ I2C airspeed ------------------------- define HAL_PERIPH_ENABLE_AIRSPEED # MS4525 sensor by default define HAL_AIRSPEED_TYPE_DEFAULT 1 define AIRSPEED_MAX_SENSORS 1 # -------------------- MSP -------------------------------- define HAL_PERIPH_ENABLE_MSP define HAL_MSP_ENABLED 1 define AP_PERIPH_MSP_PORT_DEFAULT 1 # ------------------ BATTERY Monitor ----------------------- define HAL_PERIPH_ENABLE_BATTERY define HAL_USE_ADC TRUE define STM32_ADC_USE_ADC1 TRUE PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA1 BATT_CURRENT_SENS ADC1 SCALE(1) define HAL_BATT_MONITOR_DEFAULT 0 define HAL_BATT_VOLT_PIN 5 define HAL_BATT_VOLT_SCALE 21.0 define HAL_BATT_CURR_PIN 6 define HAL_BATT_CURR_SCALE 40.0 PB0 BATT2_VOLTAGE_SENS ADC1 SCALE(1) PB1 BATT2_CURRENT_SENS ADC1 SCALE(1) # -------------------- Buzzer+NeoPixels --------------d------ define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_NOTIFY