mirror of https://github.com/ArduPilot/ardupilot
230 lines
5.2 KiB
Plaintext
230 lines
5.2 KiB
Plaintext
# hw definition file for f405 Matek CAN GPS
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# bootloader starts firmware at 64k
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 1024
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# store parameters in pages 2 and 3
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STORAGE_FLASH_PAGE 2
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define HAL_STORAGE_SIZE 15360
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# board ID for firmware load
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APJ_BOARD_ID 1014
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env AP_PERIPH 1
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# enable watchdog
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# blue LED0 marked as ACT
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PA14 LED OUTPUT HIGH
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define HAL_LED_ON 1
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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# debug (disabled to allow for PA14 LED above), to enable debugging disable the use of PA14 above
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#PA13 JTMS-SWDIO SWD
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#PA14 JTCK-SWCLK SWD
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# avoid timer and RCIN threads to save memory
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define HAL_NO_RCIN_THREAD
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define HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define DMA_RESERVE_SIZE 0
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define HAL_DISABLE_LOOP_DELAY
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define HAL_NO_MONITOR_THREAD
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define HAL_DEVICE_THREAD_STACK 768
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 256
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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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# --------------------- SPI1 IMU -----------------------
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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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PA4 MPU_CS CS
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# SPIDEV icm20602 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ
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# IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90
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# --------------------- SPI2 RM3100 --------------------
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PB12 MAG_CS CS
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# ---------------------- SPI3 SD ------------------------
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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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# ---------------------- I2C bus ------------------------
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I2C_ORDER I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 1
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# ---------------------- CAN bus -------------------------
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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# use DNA for node allocation
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define CAN_APP_NODE_NAME "org.ardupilot.f405_MatekGPS"
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# ---------------------- UARTs ---------------------------
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# | sr0 | sr1 | sr2 | GPS | MSP |
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SERIAL_ORDER USART1 USART2 USART3 UART4 UART5
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# USART1, for debug
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PA9 USART1_TX USART1 SPEED_HIGH NODMA
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PA10 USART1_RX USART1 SPEED_HIGH NODMA
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# USART2
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PA2 USART2_TX USART2 SPEED_HIGH NODMA
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PA3 USART2_RX USART2 SPEED_HIGH NODMA
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# USART3
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PC10 USART3_TX USART3 SPEED_HIGH NODMA
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PC11 USART3_RX USART3 SPEED_HIGH NODMA
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# UART4, for GPS
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PA0 UART4_TX UART4 SPEED_HIGH NODMA
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PA1 UART4_RX UART4 SPEED_HIGH NODMA
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# USART5, for MSP
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PC12 UART5_TX UART5 SPEED_HIGH
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PD2 UART5_RX UART5 SPEED_HIGH
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# --------------------- PWM -----------------------
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PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50)
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PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51)
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PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52)
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PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53)
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
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# PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
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# PB7 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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# WS2812 LED pin
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PA15 TIM2_CH1 TIM2 PWM(7) GPIO(58)
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# Beeper
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PA8 TIM1_CH1 TIM1 GPIO(32) ALARM
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# ----------------------- GPS ----------------------------
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define HAL_PERIPH_ENABLE_GPS
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define GPS_MAX_RATE_MS 200
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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# ---------------------- COMPASS ---------------------------
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define HAL_PERIPH_ENABLE_MAG
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SPIDEV rm3100 SPI2 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
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define HAL_COMPASS_MAX_SENSORS 1
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# added QMC5883L for different board varients
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
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# --------------------- DPS310 ---------------------------
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define HAL_PERIPH_ENABLE_BARO
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define HAL_BARO_ALLOW_INIT_NO_BARO
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BARO DPS310 I2C:0:0x76
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# ------------------ I2C airspeed -------------------------
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define HAL_PERIPH_ENABLE_AIRSPEED
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# MS4525 sensor by default
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define HAL_AIRSPEED_TYPE_DEFAULT 1
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define AIRSPEED_MAX_SENSORS 1
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# -------------------- MSP --------------------------------
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define HAL_PERIPH_ENABLE_MSP
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define HAL_MSP_ENABLED 1
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define AP_PERIPH_MSP_PORT_DEFAULT 4
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# ----------------- rangefinder,ADSB ----------------------
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define HAL_PERIPH_ENABLE_RANGEFINDER
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define RANGEFINDER_MAX_INSTANCES 1
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# disable rangefinder by default
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define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
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# ------------------ BATTERY Monitor -----------------------
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define HAL_PERIPH_ENABLE_BATTERY
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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# define HAL_DISABLE_ADC_DRIVER TRUE
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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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# PC2 RSSI_ADC_PIN ADC1 SCALE(1)
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# PC3 PRESSURE_SENS ADC1 SCALE(1)
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PC5 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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# define BOARD_RSSI_ANA_PIN 12
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# define HAL_DEFAULT_AIRSPEED_PIN 13
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# Set the Default Battery Monitor Type to be Off
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define HAL_BATT_MONITOR_DEFAULT 0
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_VOLT_SCALE 21.0
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_CURR_SCALE 40.0
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define HAL_BATT2_VOLT_PIN 15
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define HAL_BATT2_VOLT_SCALE 11.0
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# -------------------- Buzzer+NeoPixels --------------d------
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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