# hw definition file for KakuteF4 hardware # MCU class and specific type MCU STM32F4xx STM32F405xx # Betaflight motor order for copter define HAL_FRAME_TYPE_DEFAULT 12 # board ID for firmware load APJ_BOARD_ID 122 # crystal frequency OSCILLATOR_HZ 8000000 define STM32_ST_USE_TIMER 4 define CH_CFG_ST_RESOLUTION 16 FLASH_SIZE_KB 1024 # only one I2C bus I2C_ORDER I2C1 # LEDs PB5 LED_BLUE OUTPUT LOW GPIO(0) # buzzer PC9 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 # spi3 for dataflash and OSD PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 PB14 MAX7456_CS CS # dataflash M25P16 PB3 FLASH_CS CS PC4 ICM20689_CS CS PC5 ICM20689_DRDY INPUT # only one I2C bus in normal config PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # analog pins PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC2 BATT_CURRENT_SENS ADC1 SCALE(1) # RSSI analog input PC1 RSSI_ADC_PIN ADC1 SCALE(1) define BOARD_RSSI_ANA_PIN 11 # define default battery setup define HAL_BATT_VOLT_PIN 13 define HAL_BATT_CURR_PIN 12 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART6 USART1 UART4 UART5 USART3 # rcinput is PB11 PB11 TIM2_CH4 TIM2 RCININT PULLDOWN LOW PB10 USART3_TX USART3 # SBUS inversion control pin, active high PB15 USART3_RXINV OUTPUT LOW GPIO(78) POL(1) # for FrSky S.PORT. Has builtin inverters and diode to combine # RX and TX onto the one pin PA9 USART1_TX USART1 PA10 USART1_RX USART1 # default Serial2 to FrSky telemetry define DEFAULT_SERIAL2_PROTOCOL 10 # USART6, telem1, SERIAL1 PC6 USART6_TX USART6 PC7 USART6_RX USART6 # UART4 (GPS), SERIAL3 PA1 UART4_RX UART4 NODMA PA0 UART4_TX UART4 NODMA # UART5 (ESC telemetry sensor), SERIAL4 PD2 UART5_RX UART5 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # USB detection PA8 VBUS INPUT OPENDRAIN # debug PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PWM out pins. Note that channel order follows the ArduPilot motor # order conventions PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) PA3 TIM5_CH4 TIM5 PWM(3) GPIO(52) PA2 TIM5_CH3 TIM5 PWM(4) GPIO(53) PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # LED strip define HAL_NEOPIXEL_COUNT 8 define HAL_STORAGE_SIZE 15360 STORAGE_FLASH_PAGE 2 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 # 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 # SPI devices SPIDEV mpu6000 SPI1 DEVID1 ICM20689_CS MODE3 1*MHZ 8*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI3 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ # one IMU IMU Invensense SPI:mpu6000 ROTATION_YAW_180 # one baro BARO BMP280 I2C:0:0x76 define AP_BARO_BACKEND_DEFAULT_ENABLED 0 define AP_BARO_BMP280_ENABLED 1 # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # minimal drivers to reduce flash usage include ../include/minimize_fpv_osd.inc define DEFAULT_NTF_LED_TYPES 256