# MCU class and specific type MCU STM32F4xx STM32F407xx FLASH_RESERVE_START_KB 64 FLASH_SIZE_KB 512 define HAL_STORAGE_SIZE 15360 STORAGE_FLASH_PAGE 2 # board ID for firmware load APJ_BOARD_ID 6001 env AP_PERIPH 1 define STM32_ST_USE_TIMER 5 define CAN_APP_NODE_NAME "sw-boom-f407" # crystal frequency OSCILLATOR_HZ 8000000 # activity led PC8 LED OUTPUT LOW define HAL_LED_ON 1 # JTAG PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PD2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PB5 CAN2_RX CAN2 PB6 CAN2_TX CAN2 PB7 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW # we want to be able to mirror CAN onto both buses define HAL_PERIPH_CAN_MIRROR 1 # UARTs # | nav light | esc front | esc rear | transponder | SERIAL_ORDER USART6 USART2 USART3 UART4 # USART6 nav light PC6 USART6_TX USART6 SPEED_HIGH DMA # USART2 front esc PD6 USART2_RX USART2 SPEED_HIGH DMA # USART3 rear esc PD9 USART3_RX USART3 SPEED_HIGH DMA # USART4 transponder PA0 UART4_TX UART4 SPEED_HIGH DMA PA1 UART4_RX UART4 SPEED_HIGH DMA # APD telem define HAL_PERIPH_ENABLE_ESC_APD 1 define APD_ESC_INSTANCES 2 define APD_ESC_SERIAL_0 1 define APD_ESC_SERIAL_1 2 # pwm define HAL_PERIPH_ENABLE_RC_OUT PE9 TIM1_CH1 TIM1 PWM(1) GPIO(51) # esc front PE11 TIM1_CH2 TIM1 PWM(2) GPIO(52) # esc rear PB11 TIM2_CH4 TIM2 PWM(4) GPIO(54) # aux 3 # gpio PA5 SAGETECH_MAINT OUTPUT GPIO(0) LOW PB3 POWER_GOOD2 INPUT GPIO(1) # 7.4v secondary PD7 POWER_GOOD1 INPUT GPIO(2) # 28v primary PD15 CHARGER_EN OUTPUT GPIO(3) low # charger PE4 ID_PIN INPUT GPIO(4) # high on left, low on right PB10 HEAT_PIN OUTPUT GPIO(5) LOW # heater control, low is heater off, high is heater on PB12 AUX3 OUTPUT GPIO(6) # aux 3 define HAL_PERIPH_ENABLE_RELAY 1 define AP_RELAY_ENABLED 1 define RELAY1_PIN_DEFAULT 3 define RELAY2_PIN_DEFAULT 5 # battery define HAL_PERIPH_ENABLE_BATTERY define HAL_PERIPH_BATTERY_SKIP_NAME define HAL_USE_ADC TRUE define STM32_ADC_USE_ADC1 TRUE define AP_BATT_MONITOR_MAX_INSTANCES 4 define HAL_BATT_MONITOR_DEFAULT 4 # vtol voltage PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) # pin 2 # vtol current PA3 BATT_CURRENT_SENS ADC1 SCALE(1) # pin 3 # servo voltage PA4 SERVO_VOLTAGE_SENS ADC1 SCALE(1) # pin 4 # 5V voltage PA6 SUPPLY_VOLTAGE_SENS ADC1 SCALE(1) # pin 6 # 28V voltage PB1 BATT_28V_SENS ADC1 SCALE(1) # pin 9 # 5v backup voltage PC0 BATT_5V_SEC_SENS ADC1 SCALE(1) # pin 10 # 5v primary PC2 BATT_5V_PRIM_SENS ADC1 SCALE(1) # pin 12 # battery temperature PC4 BATT_TEMP_SENS ADC1 SCALE(1) # pin 14 # temperature define AP_TEMPERATURE_SENSOR_ENABLED 1 define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 1 # Scripting define AP_SCRIPTING_ENABLED 1 define AP_FILESYSTEM_ROMFS_ENABLED 1 # don't build on firmware.ardupilot.org AUTOBUILD_TARGETS None