# hw definition file for processing by chibios_pins.py # for Matek F765-Wing # MCU class and specific type MCU STM32F7xx STM32F767xx # board ID for firmware load APJ_BOARD_ID 143 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 FLASH_SIZE_KB 2048 # leave 2 sectors free FLASH_RESERVE_START_KB 96 STM32_ST_USE_TIMER 12 define CH_CFG_ST_RESOLUTION 16 # two I2C bus I2C_ORDER I2C2 I2C1 # order of UARTs (and USB) SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 UART5 # tonealarm support PB9 TIM11_CH1 TIM11 GPIO(32) ALARM # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 for IMU1 (MPU6000) PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PC4 IMU1_CS CS # SPI2 for MAX7456 OSD PB12 MAX7456_CS CS PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI3 for IMU2 (ICM20602) PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 PD7 IMU2_CS CS # SPI4 PE11 SPARE_CS CS PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 # I2C1 PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # I2C2 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC3 BATT_CURRENT_SENS ADC1 SCALE(1) PA4 BATT_VOLTAGE_SENS2 ADC1 SCALE(1) # analog pin4 PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1) # analog pin15 PC0 PRESSURE_SENS ADC1 SCALE(2) define HAL_DEFAULT_AIRSPEED_PIN 10 # define default battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 12 define HAL_BATT_CURR_PIN 13 define HAL_BATT_VOLT_SCALE 11 define HAL_BATT_CURR_SCALE 40 define HAL_BATT2_VOLT_PIN 4 define HAL_BATT2_CURR_PIN 15 # analog RSSI PC1 RSSI_ADC ADC1 define BOARD_RSSI_ANA_PIN 11 define AP_NOTIFY_GPIO_LED_2_ENABLED 1 PD10 LED0 OUTPUT LOW GPIO(90) # blue PD11 LED1 OUTPUT LOW GPIO(91) # green define HAL_GPIO_A_LED_PIN 91 define HAL_GPIO_B_LED_PIN 90 # USART1 (telem2) PA10 USART1_RX USART1 PA9 USART1_TX USART1 # USART2 (GPS1) PD5 USART2_TX USART2 NODMA PD6 USART2_RX USART2 NODMA # USART3 (GPS2) PD9 USART3_RX USART3 NODMA PD8 USART3_TX USART3 NODMA # UART4 (disable if used for CAN) PD1 UART4_TX UART4 NODMA PD0 UART4_RX UART4 NODMA # UART5 (RX only, for ESC telem) PB8 UART5_RX UART5 NODMA # USART6 (RC input), SERIAL7 PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW PC6 USART6_TX USART6 NODMA # as an alternative config setup the RX6 pin as an uart. This allows # for bi-directional UART based receiver protocols such as FPort # without any extra hardware PC7 USART6_RX USART6 NODMA ALT(1) PC7 USART6_RX USART6 NODMA ALT(3) # UART7 (telem1) PE7 UART7_RX UART7 PE8 UART7_TX UART7 PE10 UART7_CTS UART7 PE9 UART7_RTS UART7 # telem1-UART7 RTS and CTS as GPIO in alternative configs PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(2) # Cts7 pin as GPIO 1 (set RELAYx_PIN = 1 to use it) PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(2) # Rts7 pin as GPIO 2 (set RELAYx_PIN = 2 to use it) PE10 EXTERN_GPIO1 OUTPUT GPIO(1) ALT(3) # Cts7 pin as GPIO 1 (set RELAYx_PIN = 1 to use it) PE9 EXTERN_GPIO2 OUTPUT GPIO(2) ALT(3) # Rts7 pin as GPIO 2 (set RELAYx_PIN = 2 to use it) # alternative configs: # 1: bidirectional receiver protocol on RX6 pin # 2: extra GPIOs instead of Cts/Rts on UART7_CTS # 3: both 1 and 2 combined, GPIO numbers differ to avoid "Duplicate GPIO value" error while generating hwdef.h # UART8 (spare) PE0 UART8_RX UART8 NODMA PE1 UART8_TX UART8 NODMA # CAN bus (disabled as used for UART4) #PD1 CAN1_TX CAN1 #PD0 CAN1_RX CAN1 # Motors PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51) PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) PB0 TIM8_CH2N TIM8 PWM(5) GPIO(54) PB1 TIM8_CH3N TIM8 PWM(6) GPIO(55) PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) PE5 TIM9_CH1 TIM9 PWM(11) GPIO(60) NODMA PE6 TIM9_CH2 TIM9 PWM(12) GPIO(61) NODMA PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED # microSD support PC8 SDMMC_D0 SDMMC1 PC9 SDMMC_D1 SDMMC1 PC10 SDMMC_D2 SDMMC1 PC11 SDMMC_D3 SDMMC1 PC12 SDMMC_CK SDMMC1 PD2 SDMMC_CMD SDMMC1 # GPIOs PE4 PINIO1 OUTPUT GPIO(81) LOW PE15 PINIO2 OUTPUT GPIO(82) LOW DMA_PRIORITY S* define HAL_STORAGE_SIZE 16384 STORAGE_FLASH_PAGE 1 # spi devices SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ SPIDEV icm20602 SPI3 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ # 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 1 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 # two IMUs. We put icm20602 first as we can sample accel at 4kHz IMU Invensense SPI:icm20602 ROTATION_PITCH_180 IMU Invensense SPI:mpu6000 ROTATION_ROLL_180 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # one BARO, multiple possible choices for different # board variants BARO BMP280 I2C:0:0x76 BARO DPS310 I2C:0:0x76 BARO MS56XX I2C:0:0x77 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/font*.bin define DEFAULT_NTF_LED_TYPES 455