# hw definition file for processing by chibios_pins.py # Mamba F405 MK2 # With F405 MCU, MPU6000 IMU and 7456 series OSD # Based on Mamba F405 from jeanphilippehell @ thanks to betaflight for pin information # MCU class and specific type. MCU STM32F4xx STM32F405xx HAL_CHIBIOS_ARCH_F405 1 # board ID for firmware load APJ_BOARD_ID 1019 # crystal frequency OSCILLATOR_HZ 8000000 # board voltage STM32_VDD 330U STM32_ST_USE_TIMER 5 # order of I2C buses I2C_ORDER I2C1 # order of UARTs (and USB) # this order follows the labels on the board # namely COMPUTER, PPM/SBUS (configurable as USART), TX3/RX3, TX6/RX6 SERIAL_ORDER OTG1 USART1 EMPTY USART3 EMPTY EMPTY USART6 # The pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PC5 VBUS INPUT OPENDRAIN # USART1 is wired to SBUS and PPM input # RC input defaults to timer capture PA10 TIM1_CH3 TIM1 RCININT PULLDOWN PA9 USART1_TX USART1 # Alt config to allow RCIN on UART PA10 USART1_RX USART1 ALT(1) # SBUS inversion control pin, active high PC0 USART1_RXINV OUTPUT LOW GPIO(78) POL(1) # USART3 PB10 USART3_TX USART3 PB11 USART3_RX USART3 NODMA # USART6 PC6 USART6_TX USART6 PC7 USART6_RX USART6 # The pins for SWD debugging with a STlinkv2 or black-magic probe (not tested) PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # ADC PC1 BAT_VOLT_SENS ADC1 SCALE(1) PC2 RSSI_IN ADC1 PC3 BAT_CURR_SENS ADC1 SCALE(1) # PWM output. 1 - 4 on ESC header PA3 TIM2_CH4 TIM2 PWM(1) GPIO(50) PB0 TIM3_CH3 TIM3 PWM(2) GPIO(51) PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR # Board LEDs PB5 LED_BLUE OUTPUT LOW GPIO(1) PB4 LED_GREEN OUTPUT LOW GPIO(2) define HAL_GPIO_A_LED_PIN 1 define HAL_GPIO_B_LED_PIN 2 # External LEDs PA0 LED_EXT1 OUTPUT GPIO(30) # Buzzer PA8 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 # Note that this board needs PULLUP on I2C pins PB6 I2C1_SCL I2C1 PULLUP PB7 I2C1_SDA I2C1 PULLUP # SPI1 - Internal IMU PA4 MPU6000_CS CS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 - OSD PB15 SPI2_MOSI SPI2 PB14 SPI2_MISO SPI2 PB13 SPI2_SCK SPI2 # OSD max7456 PB12 OSD_CS CS # SPI3 - dataflash PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 # Dataflash M25P16 PB3 FLASH_CS CS # SPI Device table SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ SPIDEV icm42688 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI2 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ # One IMU rotated in yaw IMU Invensense SPI:mpu6000 ROTATION_YAW_90 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180 # Probe for I2C BMP280 BARO BMP280 I2C:0:0x76 define AP_BARO_BACKEND_DEFAULT_ENABLED 0 define AP_BARO_BMP280_ENABLED 1 define HAL_BARO_ALLOW_INIT_NO_BARO 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 # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 define HAL_STORAGE_SIZE 15360 STORAGE_FLASH_PAGE 1 # flash size FLASH_SIZE_KB 1024 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 # define default battery setup define HAL_BATT_VOLT_PIN 11 define HAL_BATT_CURR_PIN 13 define HAL_BATT_VOLT_SCALE 12 define HAL_BATT_CURR_SCALE 39 # Analog RSSI pin (also could be used as analog airspeed input) define BOARD_RSSI_ANA_PIN 1 # Setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 # Font for the osd ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # To complementary channels work we define this #define STM32_PWM_USE_ADVANCED TRUE # minimal drivers to reduce flash usage include ../include/minimal.inc include ../include/no_bootloader_DFU.inc