# hw definition file for processing by chibios_pins.py # CM4pilot, developed by Robin Luo luojinglinemail@gmail.com ################################################# ### MCU CONFIGURATION ### ################################################# # MCU class and specific type MCU STM32F4xx STM32F405xx # board ID for firmware load APJ_BOARD_ID AP_HW_ACNS_CM4PILOT # crystal frequency OSCILLATOR_HZ 16000000 define STM32_ST_USE_TIMER 5 define CH_CFG_ST_RESOLUTION 32 # reserve 16k for bootloader, 16k for OSD and 32k for flash storage FLASH_RESERVE_START_KB 64 FLASH_SIZE_KB 1024 #define HAL_STORAGE_SIZE 16384 define HAL_STORAGE_SIZE 15360 STORAGE_FLASH_PAGE 1 # enable FLASH/RAMTROM parameter storage #define HAL_WITH_DATAFLASH 1 # enable logging to dataflash #define HAL_LOGGING_DATAFLASH_ENABLED 1 # order of UARTs SERIAL_ORDER OTG1 USART1 USART3 UART4 USART6 USART2 ################################################# ### PIN DEFINITIONS ### ################################################# PA0 UART4_TX UART4 PA1 UART4_RX UART4 PA9 USART1_TX USART1 PA10 USART1_RX USART1 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PC6 USART6_TX USART6 PC7 USART6_RX USART6 PB10 USART3_TX USART3 PB11 USART3_RX USART3 # default to timer for RC input PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW # alternative using USART2 PA2 USART2_TX USART2 NODMA PA3 USART2_RX USART2 NODMA ALT(1) # IMU SPI PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA4 BMI088_A_CS CS PC3 BMI088_G_CS CS PC4 BMI088_A_DRDY INPUT PB2 BMI088_G_DRDY INPUT # SD CARD SPI PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 PD2 SDCARD_CS CS PA14 FLASH_CS CS # MAG SPI PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB12 MAG_CS CS PC5 MAG_DRDY INPUT PC15 ESPI_CS CS # I2C1 PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 #define HAL_USE_I2C TRUE #define STM32_I2C_USE_I2C1 TRUE # I2C Buses I2C_ORDER I2C1 #define HAL_I2C_CLEAR_ON_TIMEOUT 0 # CAN PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 # CAN Buses #CAN_ORDER 1 # reduce memory usage define UAVCAN_NODE_POOL_SIZE 1024 PC0 RSSI_ADC_PIN ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC14 LED_BLUE OUTPUT LOW GPIO(0) PA13 LED_GREEN OUTPUT LOW GPIO(1) #PC15 LED_RED OUTPUT LOW GPIO(2) define AP_NOTIFY_GPIO_LED_2_ENABLED 1 define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 #define HAL_GPIO_C_LED_PIN 2 #pwm output PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51) PB4 TIM3_CH1 TIM3 PWM(3) GPIO(52) PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) PB3 TIM2_CH2 TIM2 PWM(5) GPIO(54) PA15 TIM2_CH1 TIM2 PWM(6) GPIO(55) PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) #PWM output for buzzer PA8 TIM1_CH1 TIM1 GPIO(77) LOW ALARM #PA2 TIM2_CH3 TIM2 PWM(10) GPIO(59) PC13 VBUS INPUT OPENDRAIN # default to all pins low to avoid ESD issues DEFAULTGPIO OUTPUT LOW PULLDOWN ################################################# ### DEVICES ### ################################################# # BMI088 on SPI1 SPIDEV bmi088_g SPI1 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI1 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ # MAG on SPI2 SPIDEV lis3mdl SPI2 DEVID3 MAG_CS MODE3 500*KHZ 500*KHZ # SD Card on SPI3 SPIDEV sdcard SPI3 DEVID4 SDCARD_CS MODE3 400*KHZ 25*MHZ # Flash Card on SPI3 SPIDEV dataflash SPI3 DEVID5 FLASH_CS MODE3 500*KHZ 25*MHZ # one IMU IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 #ROTATION_ROLL_180_YAW_270 # one baro, multiple possible choices for different board variants BARO BMP280 I2C:0:0x76 # one mag COMPASS LIS3MDL SPI:lis3mdl false ROTATION_ROLL_180_YAW_270 define HAL_OS_FATFS_IO 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" # define default battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 12 define HAL_BATT_CURR_PIN 11 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 #analog rssi pin (also could be used as analog airspeed input) # PC0 - ADC1_CH10 define BOARD_RSSI_ANA_PIN 10 # 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 #define OSD_ENABLED 0 # --------------------- save flash ---------------------- include ../include/minimize_features.inc