# hw definition file for processing by chibios_pins.py # for FLYWOO Goku GN F745. # thanks to betaflight for pin information # MCU class and specific type MCU STM32F7xx STM32F745xx # board ID for firmware load APJ_BOARD_ID 1027 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 FLASH_SIZE_KB 1024 # bootloader takes first sector FLASH_RESERVE_START_KB 96 # only one I2C bus I2C_ORDER I2C1 # Buzzer - DMA timer channel use by LEDs #PD15 TIM4_CH4 TIM4 GPIO(80) ALARM PD15 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # Debug PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 for Flash Storage 16mb PA4 FLASH_CS CS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 for OSD PB12 AT7456E_CS CS PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI4 for MPU6000 PE4 MPU6000_CS CS PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # I2C1 for baro PB6 I2C1_SCL I2C1 PULLUP PB7 I2C1_SDA I2C1 PULLUP PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC2 BATT_CURRENT_SENS ADC1 SCALE(1) # define default battery setup define HAL_BATT_VOLT_PIN 13 define HAL_BATT_CURR_PIN 12 define HAL_BATT_VOLT_SCALE 10.9 define HAL_BATT_CURR_SCALE 28.5 define HAL_BATT_MONITOR_DEFAULT 4 PC5 RSSI_ADC ADC1 define BOARD_RSSI_ANA_PIN 15 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 # USART1 PA10 USART1_RX USART1 NODMA PA9 USART1_TX USART1 # USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 NODMA # USART3 PB10 USART3_TX USART3 PB11 USART3_RX USART3 # UART4 PA0 UART4_TX UART4 PA1 UART4_RX UART4 NODMA # UART5 PC12 UART5_TX UART5 NODMA PD2 UART5_RX UART5 NODMA # USART6 PC6 USART6_TX USART6 PC7 USART6_RX USART6 NODMA # UART7 PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # Motors PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # Motor 1 PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # Motor 2 PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) # Motor 3 PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR # Motor 4 PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) # Motor 5 PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # Motor 6 PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56) # Motor 7 PB5 TIM3_CH2 TIM3 PWM(8) GPIO(57) # Motor 8 # NeoPixel LED strip PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) PA2 LED0 OUTPUT LOW GPIO(90) # LED # Misc Timer Stuff PE13 TIM1_CH3 TIM1 PWM(10) GPIO(59) # PPM/Unused - for future use according to Flywoo DMA_PRIORITY USART1* TIM1* TIM3* DMA_NOSHARE SPI1_TX SPI1_RX TIM1_CH2 TIM3_CH3 define HAL_STORAGE_SIZE 16384 STORAGE_FLASH_PAGE 1 # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 # spi devices SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 4*MHZ SPIDEV icm42688 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 8*MHZ SPIDEV bmi270 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 8*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 0 # one IMU IMU Invensense SPI:mpu6000 ROTATION_YAW_180 IMU BMI270 SPI:bmi270 ROTATION_PITCH_180 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # one BARO BARO BMP280 I2C:0:0x76 BARO SPL06 I2C:0:0x76 define AP_BARO_BACKEND_DEFAULT_ENABLED 0 define AP_BARO_SPL06_ENABLED 1 define AP_BARO_BMP280_ENABLED 1 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin define STM32_PWM_USE_ADVANCED TRUE # FFT option (disabled by default) # define HAL_GYROFFT_ENABLED 1 # define AC_OAPATHPLANNER_ENABLED 0 # EK2 options (disabled by default) # define HAL_NAVEKF2_AVAILABLE 1 # define HAL_NAVEKF3_AVAILABLE 0 # save some flash include ../include/save_some_flash.inc include ../include/minimize_fpv_osd.inc include ../include/no_bootloader_DFU.inc define DEFAULT_NTF_LED_TYPES 257