mirror of https://github.com/ArduPilot/ardupilot
213 lines
5.0 KiB
Plaintext
213 lines
5.0 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Matek F405-Wing, developed by David Ingraham
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# Board configuration borrowed from Inav F405SE target
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# Read hwdef/fmuv3/hwdef.dat for more info on these options
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# SerialX ports are mapped as printed on the top board
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# R1/T1 -> Serial1
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# R2 -> Sbus (T2 not currently used or available)
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# R3/T3 -> Serial3
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# R4/T4 -> Serial4
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# R5/T5 -> Serial5
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# R6/T6 -> Serial6
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# Note: UART4/Serial4, UART5/Serial5, USART6/Serial6 have no DMA on RX (TX always DMA).
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# If sending highspeed serial data (eg. 921600 baud) to the board, use Serial1/Serial3.
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#################################################
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### MCU CONFIGURATION ###
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#################################################
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 127
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 1024
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 1
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# I2C Buses
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I2C_ORDER I2C1 I2C2
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# order of UARTs
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SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 UART5 USART6 USART2
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#################################################
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### PIN DEFINITIONS ###
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#################################################
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# default to timer for RC input
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PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
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# alternative using USART2
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA ALT(1)
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PA4 MPU_CS CS
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# IMU SPI
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA14 LED_BLUE OUTPUT LOW GPIO(0)
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PA13 LED_GREEN OUTPUT LOW GPIO(1) # optional
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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#pwm output
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PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50)
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PB6 TIM4_CH1 TIM4 PWM(2) GPIO(51)
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53)
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PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54)
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PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55)
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PB14 TIM1_CH2N TIM1 PWM(7) GPIO(56)
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PB15 TIM1_CH3N TIM1 PWM(8) GPIO(57)
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58)
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PA15 TIM2_CH1 TIM2 PWM(10) GPIO(59) #on LED pin,allows odd motor groups
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# SD CARD SPI
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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PC14 SDCARD_CS CS
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# OSD SPI
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PB12 OSD_CS CS
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PB13 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC5 RSSI_ADC_PIN ADC1 SCALE(1)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PC10 USART3_TX USART3
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PC11 USART3_RX USART3
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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PC13 VBUS INPUT OPENDRAIN
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PC15 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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#################################################
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### DEVICES ###
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#################################################
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# one IMU on SPI1
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SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm42688 SPI1 DEVID1 MPU_CS MODE3 2*MHZ 16*MHZ
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# OSD on SPI
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SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
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# SD Card on SPI
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SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
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# one IMU, multiple possible choice
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
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# one baro, multiple possible choices for different board variants
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BARO BMP280 I2C:0:0x76
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BARO DPS310 I2C:0:0x76
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_BMP280_ENABLED 1
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define AP_BARO_DPS280_ENABLED 1
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define HAL_OS_FATFS_IO 1
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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11
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define HAL_BATT_CURR_SCALE 31.7
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#analog rssi pin (also could be used as analog airspeed input)
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# PC5 - ADC12_CH15
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define BOARD_RSSI_ANA_PIN 15
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
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define STM32_PWM_USE_ADVANCED TRUE
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# disable SMBUS battery monitors to save flash
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define AP_BATTERY_SMBUS_ENABLED 0
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# disable parachute and sprayer to save flash
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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# reduce max size of embedded params for apj_tool.py
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define AP_PARAM_MAX_EMBEDDED_PARAM 1024
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define HAL_GYROFFT_ENABLED 0
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# save some flash
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include ../include/save_some_flash.inc
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define AP_GRIPPER_ENABLED 0
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define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
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define AP_BATTERY_SMBUS_ENABLED 0
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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define HAL_RUNCAM_ENABLED 0
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define HAL_HOTT_TELEM_ENABLED 0
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define HAL_NMEA_OUTPUT_ENABLED 0
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define HAL_BUTTON_ENABLED 0
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define AP_NOTIFY_OREOLED_ENABLED 0
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define HAL_PICCOLO_CAN_ENABLE 0
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# only include ublox GPS driver
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include ../include/minimal_GPS.inc
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