# hw definition file for AtomRC F405 hardware # MCU class and specific type MCU STM32F4xx STM32F405xx # board ID for firmware load APJ_BOARD_ID 1078 # crystal frequency OSCILLATOR_HZ 8000000 define STM32_ST_USE_TIMER 5 FLASH_SIZE_KB 1024 # only one I2C bus I2C_ORDER I2C1 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 # LEDs PA14 LED_BLUE OUTPUT LOW GPIO(0) PA13 LED_GREEN OUTPUT LOW GPIO(1) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 # buzzer PC5 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 IMU_CS CS # spi2 for OSD PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB12 AT7456E_CS CS # spi3 for sdcard PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 PB6 SDCARD_CS CS # one I2C bus PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # analog pins PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) PC0 RSSI_ADC_PIN ADC1 SCALE(1) PC3 AIRSPEED_ADC ADC1 SCALE(1) define HAL_DEFAULT_AIRSPEED_PIN 13 # define default battery setup define HAL_BATT_VOLT_PIN 12 define HAL_BATT_CURR_PIN 11 define HAL_BATT_VOLT_SCALE 11.08836 define HAL_BATT_CURR_SCALE 30.0 define HAL_BATT_MONITOR_DEFAULT 4 # analog rssi pin define BOARD_RSSI_ANA_PIN 10 # USART1 PA9 USART1_TX USART1 PA10 USART1_RX USART1 # USART2 - RCIN with inverter PA2 USART2_TX USART2 PA3 TIM9_CH2 TIM9 RCININT PULLDOWN # alternative with PA3 as USART2_RX PA3 USART2_RX USART2 NODMA ALT(1) # USART3 PC10 USART3_TX USART3 PC11 USART3_RX USART3 define DEFAULT_SERIAL3_PROTOCOL 0 # UART4 GPS PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 NODMA define DEFAULT_SERIAL4_PROTOCOL 5 # UART5 for DJI OSD PD2 UART5_RX UART5 NODMA PC12 UART5_TX UART5 NODMA # USART6 PC6 USART6_TX USART6 PC7 USART6_RX USART6 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # debug (disabled out to allow for both LEDs) #PA13 JTMS-SWDIO SWD #PA14 JTCK-SWCLK SWD # PWM out pins. Note that channel order follows the ArduPilot motor # order conventions PC8 TIM3_CH3 TIM3 PWM(1) GPIO(50) PC9 TIM3_CH4 TIM3 PWM(2) GPIO(51) PA8 TIM1_CH1 TIM1 PWM(3) GPIO(52) PB1 TIM1_CH3N TIM1 PWM(4) GPIO(53) PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55) PB11 TIM2_CH4 TIM2 PWM(7) GPIO(56) PB0 TIM1_CH2N TIM1 PWM(8) GPIO(57) PB7 TIM4_CH2 TIM4 PWM(9) GPIO(58) # LED strip define HAL_STORAGE_SIZE 15360 STORAGE_FLASH_PAGE 2 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 # one IMU IMU BMI270 SPI:bmi270 ROTATION_PITCH_180 # I2C BMP280 or SPL06 BARO SPL06 I2C:0:0x76 BARO BMP280 I2C:0:0x76 # 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 # SPI devices SPIDEV bmi270 SPI1 DEVID1 IMU_CS MODE3 1*MHZ 10*MHZ SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ SPIDEV osd SPI2 DEVID1 AT7456E_CS MODE0 10*MHZ 10*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 # reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 256 # save some flash include ../include/minimal_GPS.inc include ../include/save_some_flash.inc define AP_BATTERY_SMBUS_ENABLED 0 define HAL_PARACHUTE_ENABLED 0 define HAL_SPRAYER_ENABLED 0 define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0