# hw definition file for HEEWING 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 1 and 2 STORAGE_FLASH_PAGE 1 define HAL_STORAGE_SIZE 15360 # board ID for firmware load APJ_BOARD_ID 1119 define STM32_ST_USE_TIMER 5 define CH_CFG_ST_RESOLUTION 32 # crystal frequency OSCILLATOR_HZ 8000000 # --------------------- LED ----------------------- PC13 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT PC15 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 ----------------------- PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50) BIDIR PB6 TIM4_CH1 TIM4 PWM(2) GPIO(51) PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) # UP shared with I2C2_RX, dshot not advised PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) # UP shared with I2C2_RX, dshot not advised PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) BIDIR PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55) PB15 TIM1_CH3N TIM1 PWM(7) GPIO(56) PB14 TIM1_CH2N TIM1 PWM(8) GPIO(57) PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) BIDIR PA15 TIM2_CH1 TIM2 PWM(10) GPIO(59) NODMA # no output define STM32_PWM_USE_ADVANCED TRUE # Beeper #PA7 TIM3_CH2 TIM3 GPIO(32) ALARM # GPIOs #PA4 PINIO1 OUTPUT GPIO(81) LOW #PB5 PINIO2 OUTPUT GPIO(82) LOW # --------------------- SPI1 ----------------------- PB3 SPI1_SCK SPI1 PB4 SPI1_MISO SPI1 PB5 SPI1_MOSI SPI1 PA4 IMU_CS CS # --------------------- SPI2 ----------------------- PB13 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 PC4 OSD_CS CS # -------------------- I2C bus -------------------- I2C_ORDER I2C1 I2C2 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # --------------------- UARTs --------------------------- SERIAL_ORDER OTG1 USART3 USART1 UART5 UART4 USART6 USART2 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # USART1 (labelled UART2 on casing) PA9 USART1_TX USART1 PA10 USART1_RX USART1 # USART2 - RCIN with inverter / CRSF (4-pin RCIN connector) PA2 USART2_TX USART2 PA3 TIM9_CH2 TIM9 RCININT PULLDOWN # alternative with PA3 as USART2_RX PA3 USART2_RX USART2 ALT(1) # USART3 - (labelled UART1 on casing) PC10 USART3_TX USART3 PC11 USART3_RX USART3 # UART4 - (NC) PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 NODMA # UART5 - (GPS) PC12 UART5_TX UART5 PD2 UART5_RX UART5 NODMA # USART6 - (NC) PC6 USART6_TX USART6 NODMA PC7 USART6_RX USART6 NODMA PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # ------------------- DMA assignment ------------------- DMA_PRIORITY ADC1 SPI1* SPI2* USART2* # ------------------- IMU ICM42605 --------------------- SPIDEV icm42688 SPI1 DEVID1 IMU_CS MODE3 1*MHZ 8*MHZ IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # ------------------ OSD AT7456E ---------------------- SPIDEV osd SPI2 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 # ----------------- I2C compass & Baro ----------------- # no built-in compass, but probe the i2c bus for all possible # external compass types 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:0:0x77 # --------------------- ADC --------------------------- PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) // RSSI_ADC_PIN ADC1 SCALE(1) //PC0 PRESSURE_SENS ADC1 SCALE(1) define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 10 define HAL_BATT_VOLT_SCALE 7.71 define HAL_BATT_CURR_PIN 11 define HAL_BATT_CURR_SCALE 26.7 #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_WITH_DSP FALSE define HAL_GYROFFT_ENABLED 0 # --------------------- save flash ---------------------- define AP_BATTMON_SMBUS_ENABLE 0 include ../include/minimal.inc include ../include/save_some_flash.inc # features that users are likely to want define AP_TRAMP_ENABLED 1 define HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED 1 # features that users are unlikely to want define AC_OAPATHPLANNER_ENABLED 0 define AC_PRECLAND_ENABLED 0 define AP_ICENGINE_ENABLED 0 define AP_OPTICALFLOW_ENABLED 0 define HAL_GENERATOR_ENABLED 0 define HAL_SPRAYER_ENABLED 0 define PRECISION_LANDING 0 define GRIPPER_ENABLED 0 define HAL_HOTT_TELEM_ENABLED 0 define HAL_NMEA_OUTPUT_ENABLED 0 define HAL_BUTTON_ENABLED 0 define HAL_OREO_LED_ENABLED 0 define AP_OPTICALFLOW_ENABLED 0 define AP_ICENGINE_ENABLED 0 define AP_RANGEFINDER_ENABLED 0 define AP_RPM_EFI_ENABLED 0 define AP_RPM_PIN_ENABLED 0 define AP_RPM_GENERATOR_ENABLED 0 define HAL_PARACHUTE_ENABLED 0 AUTOBUILD_TARGETS Plane