# hw definition file for processing by chibios_pins.py # Matek F405-Wing, developed by David Ingraham # Board configuration borrowed from Inav F405SE target # Read hwdef/fmuv3/hwdef.dat for more info on these options # SerialX ports are mapped as printed on the top board # R1/T1 -> Serial1 # R2 -> Sbus (T2 not currently used or available) # R3/T3 -> Serial3 # R4/T4 -> Serial4 # R5/T5 -> Serial5 # R6/T6 -> Serial6 # Note: UART4/Serial4, UART5/Serial5, USART6/Serial6 have no DMA on RX (TX always DMA). # If sending highspeed serial data (eg. 921600 baud) to the board, use Serial1/Serial3. ################################################# ### MCU CONFIGURATION ### ################################################# # MCU class and specific type MCU STM32F4xx STM32F405xx # board ID for firmware load APJ_BOARD_ID 127 # crystal frequency OSCILLATOR_HZ 8000000 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 15360 STORAGE_FLASH_PAGE 1 # I2C Buses I2C_ORDER I2C1 I2C2 # order of UARTs SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 UART5 USART6 USART2 ################################################# ### PIN DEFINITIONS ### ################################################# PA0 UART4_TX UART4 PA1 UART4_RX UART4 # 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) PA4 MPU_CS CS # IMU SPI PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA9 USART1_TX USART1 PA10 USART1_RX USART1 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA14 LED_BLUE OUTPUT LOW GPIO(0) PA13 LED_GREEN OUTPUT LOW GPIO(1) # optional define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 #pwm output PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50) PB6 TIM4_CH1 TIM4 PWM(2) GPIO(51) PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) PB14 TIM1_CH2N TIM1 PWM(7) GPIO(56) PB15 TIM1_CH3N TIM1 PWM(8) GPIO(57) PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) PA15 TIM2_CH1 TIM2 PWM(10) GPIO(59) #on LED pin,allows odd motor groups # SD CARD SPI PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 PC14 SDCARD_CS CS PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # OSD SPI PB12 OSD_CS CS PB13 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) PC5 RSSI_ADC_PIN ADC1 SCALE(1) PC6 USART6_TX USART6 PC7 USART6_RX USART6 PC10 USART3_TX USART3 PC11 USART3_RX USART3 PC12 UART5_TX UART5 PD2 UART5_RX UART5 PC13 VBUS INPUT OPENDRAIN PC15 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 ################################################# ### DEVICES ### ################################################# # one IMU on SPI1 SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ SPIDEV icm42688 SPI1 DEVID1 MPU_CS MODE3 2*MHZ 16*MHZ # OSD on SPI SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ # SD Card on SPI SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ # one IMU, multiple possible choice IMU Invensense SPI:mpu6000 ROTATION_YAW_180 IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180 # one baro, multiple possible choices for different board variants BARO BMP280 I2C:0:0x76 BARO DPS310 I2C:0:0x76 define AP_BARO_BACKEND_DEFAULT_ENABLED 0 define AP_BARO_BMP280_ENABLED 1 define AP_BARO_DPS280_ENABLED 1 define HAL_OS_FATFS_IO 1 # define default battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 10 define HAL_BATT_CURR_PIN 11 define HAL_BATT_VOLT_SCALE 11 define HAL_BATT_CURR_SCALE 31.7 #analog rssi pin (also could be used as analog airspeed input) # PC5 - ADC12_CH15 define BOARD_RSSI_ANA_PIN 15 # 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 define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin define STM32_PWM_USE_ADVANCED TRUE # disable SMBUS battery monitors to save flash define AP_BATTERY_SMBUS_ENABLED 0 # disable parachute and sprayer to save flash define HAL_PARACHUTE_ENABLED 0 define HAL_SPRAYER_ENABLED 0 # reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 define HAL_GYROFFT_ENABLED 0 # save some flash include ../include/save_some_flash.inc define AP_GRIPPER_ENABLED 0 define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0 define AP_BATTERY_SMBUS_ENABLED 0 define HAL_PARACHUTE_ENABLED 0 define HAL_SPRAYER_ENABLED 0 define HAL_RUNCAM_ENABLED 0 define HAL_HOTT_TELEM_ENABLED 0 define HAL_NMEA_OUTPUT_ENABLED 0 define HAL_BUTTON_ENABLED 0 define AP_NOTIFY_OREOLED_ENABLED 0 define HAL_PICCOLO_CAN_ENABLE 0 # only include ublox GPS driver include ../include/minimal_GPS.inc