# hw definition file for MATEK M9N-F405 # MCU class and specific type MCU STM32F4xx STM32F405xx # bootloader starts firmware at 64k FLASH_RESERVE_START_KB 64 FLASH_SIZE_KB 1024 # store parameters in pages 11 and 12 STORAGE_FLASH_PAGE 1 define HAL_STORAGE_SIZE 15360 # board ID for firmware load APJ_BOARD_ID 1054 define STM32_ST_USE_TIMER 5 define CH_CFG_ST_RESOLUTION 32 # crystal frequency OSCILLATOR_HZ 8000000 # --------------------- LED ----------------------- PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E define HAL_GPIO_A_LED_PIN 91 define HAL_GPIO_B_LED_PIN 90 define HAL_GPIO_LED_OFF 1 # --------------------- PWM ----------------------- PC9 TIM8_CH4 TIM8 PWM(1) GPIO(50) PC8 TIM8_CH3 TIM8 PWM(2) GPIO(51) PB15 TIM1_CH3N TIM1 PWM(3) GPIO(52) PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53) PB11 TIM2_CH4 TIM2 PWM(5) GPIO(54) PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55) PB3 TIM2_CH2 TIM2 PWM(7) GPIO(56) PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) PB14 TIM12_CH1 TIM12 PWM(9) GPIO(58) NODMA PA6 TIM13_CH1 TIM13 PWM(10) GPIO(59) NODMA PB6 TIM4_CH1 TIM4 PWM(11) GPIO(60) NODMA PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61) # LED pad define STM32_PWM_USE_ADVANCED TRUE # Beeper PB9 TIM11_CH1 TIM11 GPIO(32) ALARM # GPIOs PA4 PINIO1 OUTPUT GPIO(81) LOW PB5 PINIO2 OUTPUT GPIO(82) LOW # --------------------- SPI1 ----------------------- PA5 SPI1_SCK SPI1 PB4 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PC14 IMU_CS CS PB12 OSD_CS CS # --------------------- SPI2 ----------------------- PB13 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 PC13 FLASH_CS CS PC1 SDCARD_CS CS # -------------------- I2C bus -------------------- I2C_ORDER I2C1 PB8 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 define HAL_I2C_INTERNAL_MASK 0 # --------------------- UARTs --------------------------- SERIAL_ORDER OTG1 USART1 USART3 UART5 UART4 USART6 USART2 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # USART1 PA9 USART1_TX USART1 PA10 USART1_RX USART1 # USART2, RC input # alternative using USART2 PA2 USART2_TX USART2 PA3 USART2_RX USART2 ALT(1) # default to timer for RC input PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW # USART3 PC10 USART3_TX USART3 NODMA PC11 USART3_RX USART3 NODMA # UART4 PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 NODMA # UART5, for GPS PC12 UART5_TX UART5 NODMA PD2 UART5_RX UART5 NODMA # USART6 PC6 USART6_TX USART6 PC7 USART6_RX USART6 NODMA # ------------------- DMA assignment ------------------- DMA_PRIORITY ADC1 SPI1* SPI2* TIM1* TIM8* TIM3* UART2* # ------------------- IMU ICM42605 --------------------- SPIDEV icm42605 SPI1 DEVID1 IMU_CS MODE3 2*MHZ 8*MHZ IMU Invensensev3 SPI:icm42605 ROTATION_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # ------------------ OSD AT7456E ---------------------- SPIDEV osd SPI1 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin # --------------------- SD & FLASH ---------------------- SPIDEV sdcard SPI2 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ define HAL_LOGGING_DATAFLASH_ENABLED 1 define HAL_OS_FATFS_IO 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" # ----------------- I2C compass & Baro ----------------- # 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 # built-in barometer BARO SPL06 I2C:0:0x76 define AP_BARO_BACKEND_DEFAULT_ENABLED 0 define AP_BARO_SPL06_ENABLED 1 # --------------------- ADC --------------------------- PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC5 BATT_CURRENT_SENS ADC1 SCALE(1) PB0 RSSI_ADC_PIN ADC1 SCALE(1) PC0 PRESSURE_SENS ADC1 SCALE(1) define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 14 define HAL_BATT_VOLT_SCALE 21.0 define HAL_BATT_CURR_PIN 15 define HAL_BATT_CURR_SCALE 66.7 define BOARD_RSSI_ANA_PIN 8 define HAL_DEFAULT_AIRSPEED_PIN 10 # -------reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 define HAL_GYROFFT_ENABLED 0 # --------------------- save flash ---------------------- # save some flash include ../include/save_some_flash.inc include ../include/no_bootloader_DFU.inc define AP_BATTERY_SMBUS_ENABLED 0 define HAL_PARACHUTE_ENABLED 0 define HAL_SPRAYER_ENABLED 0 define AP_GRIPPER_ENABLED 0 define HAL_RUNCAM_ENABLED 0 define HAL_HOTT_TELEM_ENABLED 0 define HAL_NMEA_OUTPUT_ENABLED 0 define HAL_BUTTON_ENABLED 0 define AP_NOTIFY_OREOLED_ENABLED 0 define HAL_PICCOLO_CAN_ENABLE 0 define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0