# hw definition file for processing by chibios_pins.py # MCU class and specific type MCU STM32F4xx STM32F405xx # bootloader starts firmware at 60+ 4k FLASH_RESERVE_START_KB 64 #MCU F405 store parameters in pages 2 and 3 STORAGE_FLASH_PAGE 2 define HAL_STORAGE_SIZE 15360 # board ID for firmware load APJ_BOARD_ID 1064 # setup build for a peripheral firmware env AP_PERIPH 1 # crystal frequency set to 0 to use internal clock OSCILLATOR_HZ 0 #MCU F405 Flash 1024 FLASH_SIZE_KB 1024 # order of UARTs SERIAL_ORDER OTG1 USART2 USART3 UART4 define HAL_CAN_POOL_SIZE 6000 #STDOUT_SERIAL SD1 #STDOUT_BAUDRATE 57600 # PWM outputs PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50) PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51) # USART2, ESC telem PA2 USART2_TX USART2 SPEED_HIGH NODMA PA3 USART2_RX USART2 SPEED_HIGH NODMA # USART3 PC10 USART3_TX USART3 SPEED_HIGH NODMA PC11 USART3_RX USART3 SPEED_HIGH NODMA # UART4 PA0 UART4_TX UART4 SPEED_HIGH NODMA PA1 UART4_RX UART4 SPEED_HIGH NODMA # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # LED, active low PA15 LED OUTPUT HIGH GPIO(1) # spi2 PB10 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # CS pins PC8 BMI088_A_CS CS PC9 BMI088_G_CS CS SPIDEV bmi088_g SPI2 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI2 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ # one I2C bus PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 I2C_ORDER I2C1 # allow for reboot command for faster development define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 # debugger support PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD define HAL_NO_GPIO_IRQ define SERIAL_BUFFERS_SIZE 512 define DMA_RESERVE_SIZE 2048 # stack for fast interrupts define PORT_INT_REQUIRED_STACK 64 # MAIN_STACK is stack for ISR handlers MAIN_STACK 0x300 # PROCESS_STACK controls stack for main thread PROCESS_STACK 0xA00 # enable CAN support PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 # ADC inputs define HAL_USE_ADC TRUE define STM32_ADC_USE_ADC1 TRUE PA5 VSENSE1 ADC1 SCALE(1) PA6 VSENSE2 ADC1 SCALE(1) PB0 VSENSE3 ADC1 SCALE(1) PB1 VSENSE4 ADC1 SCALE(1) define AP_STATS_ENABLED 1 define HAL_NO_GCS define AP_PARAM_MAX_EMBEDDED_PARAM 512 define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_RC_OUT # enable ESC control define HAL_SERIAL_ESC_COMM_ENABLED 1 define HAL_SUPPORT_RCOUT_SERIAL 1 define HAL_WITH_ESC_TELEM 1 # enable GPS define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_GPS_PORT_DEFAULT 2 #define HAL_PERIPH_ENABLE_NOTIFY #define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY # default ADSB off by setting 0 baudrate define HAL_PERIPH_ENABLE_ADSB define HAL_PERIPH_ADSB_PORT_DEFAULT 3 define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600 BARO MS56XX I2C:0:0x76 COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE define AP_COMPASS_QMC5883P_ENABLED 1 COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180 define HAL_RCIN_THREAD_ENABLED 1