# hw definition file for SpeedyBee F4 WING hardware # tested on the Speedybee F405 WING board # # MCU class and specific type MCU STM32F4xx STM32F405xx # board ID for firmware load APJ_BOARD_ID 1106 # crystal frequency OSCILLATOR_HZ 8000000 define STM32_ST_USE_TIMER 5 define CH_CFG_ST_RESOLUTION 32 # reserve 16k for bootloader, 16k for OSD and 32k for flash storage FLASH_RESERVE_START_KB 64 FLASH_SIZE_KB 1024 define HAL_STORAGE_SIZE 15360 STORAGE_FLASH_PAGE 1 # only one I2C bus I2C_ORDER I2C1 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 # LEDs PA13 LED_GREEN OUTPUT LOW GPIO(0) PA14 LED_BLUE OUTPUT LOW GPIO(1) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 # buzzer PC15 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 # spi1 bus for IMU PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA4 MPU_CS CS # spi2 for OSD PB13 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 PB12 OSD_CS CS # spi3 for sdcard PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 PC14 SDCARD_CS CS # only one I2C bus in normal config PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # analog pins PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) PC4 RSSI_ADC_PIN ADC1 SCALE(1) PC5 PRESSURE_SENS ADC1 SCALE(1) define HAL_DEFAULT_AIRSPEED_PIN 15 # define default battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 10 define HAL_BATT_CURR_PIN 11 define HAL_BATT_VOLT_SCALE 11.05 # matched to PDB board define HAL_BATT_CURR_SCALE 50 # matched to PDB board # analog rssi pin define BOARD_RSSI_ANA_PIN 14 # USART1 (ELRS) PA9 USART1_TX USART1 PA10 USART1_RX USART1 # USART2 (RCIN with inverter) PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW # alternative with PA3 as USART2_RX PA2 USART2_TX USART2 NODMA PA3 USART2_RX USART2 NODMA ALT(1) # USART3 (GPS) PC10 USART3_TX USART3 PC11 USART3_RX USART3 NODMA # UART4 serial4 PA0 UART4_TX UART4 PA1 UART4_RX UART4 NODMA # USART5 (DJI / VTX) PC12 UART5_TX UART5 PD2 UART5_RX UART5 NODMA # UART6 (onboard Telemetry) PC6 USART6_TX USART6 PC7 USART6_RX USART6 define DEFAULT_SERIAL6_BAUD 115 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # PWM out pins. Note that channel order follows the ArduPilot motor # order conventions PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50) PB6 TIM4_CH1 TIM4 PWM(2) GPIO(51) PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) PB14 TIM8_CH2N TIM8 PWM(7) GPIO(56) PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) PB10 TIM2_CH3 TIM2 PWM(9) GPIO(58) PB11 TIM2_CH4 TIM2 PWM(10) GPIO(59) PB15 TIM1_CH3N TIM1 PWM(11) GPIO(60) PA8 TIM1_CH1 TIM1 PWM(12) GPIO(61)# LED # one IMU IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_270 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # one baro 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 # ICM42688P on SPI1 SPIDEV icm42605 SPI1 DEVID1 MPU_CS MODE3 2*MHZ 8*MHZ # OSD on SPI2 SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ # SD Card on SPI3 SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ # filesystem setup on sdcard define HAL_OS_FATFS_IO 1 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin #VTX power control PC13 PINIO1 OUTPUT GPIO(81) LOW define STM32_PWM_USE_ADVANCED TRUE define HAL_WITH_DSP FALSE # save some flash # disable SMBUS and fuel battery monitors to save flash define AP_BATTMON_SMBUS_ENABLE 0 define AP_BATTMON_FUEL_ENABLE 0 define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0 define HAL_BATTMON_INA2XX_ENABLED 0 # disable parachute and sprayer to save flash define HAL_PARACHUTE_ENABLED 0 define HAL_SPRAYER_ENABLED 0 define AP_GRIPPER_ENABLED 0 define HAL_GENERATOR_ENABLED 0 define AP_ICENGINE_ENABLED 0 #define LANDING_GEAR_ENABLED 0 define WINCH_ENABLED 0 define HAL_ADSB_ENABLED 0 define AC_OAPATHPLANNER_ENABLED 0 define PRECISION_LANDING 0 #define HAL_BARO_WIND_COMP_ENABLED 0 define AP_OPTICALFLOW_ENABLED 0 # Disable un-needed hardware drivers define HAL_WITH_ESC_TELEM 0 define AP_FETTEC_ONEWIRE_ENABLED 0 define AP_VOLZ_ENABLED 0 define AP_ROBOTISSERVO_ENABLE 0 define HAL_PICCOLO_CAN_ENABLE 0 define HAL_TORQEEDO_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 #only support MS4525 ANALOG ASP5033 driver define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0 define AP_AIRSPEED_MS4525_ENABLED 1 define AP_AIRSPEED_ANALOG_ENABLED 1 define AP_AIRSPEED_ASP5033_ENABLED 1 #only support UBLOX and NMEA GPS driver define AP_GPS_BACKEND_DEFAULT_ENABLED 0 define AP_GPS_UBLOX_ENABLED 1 define AP_GPS_NMEA_ENABLED 1 define HAL_MSP_GPS_ENABLED 1 define AP_TRAMP_ENABLED 1 define DEFAULT_NTF_LED_TYPES 257