mirror of https://github.com/ArduPilot/ardupilot
180 lines
3.9 KiB
Plaintext
180 lines
3.9 KiB
Plaintext
# hw definition file for MATEK M9N-F405
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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 11 and 12
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define STORAGE_FLASH_PAGE 1
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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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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# --------------------- LED -----------------------
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PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT
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PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E
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define HAL_GPIO_A_LED_PIN 91
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define HAL_GPIO_B_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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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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PA15 TIM2_CH1 TIM2 PWM(9) GPIO(58) # LED pin
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define STM32_PWM_USE_ADVANCED TRUE
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# Beeper
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PA8 TIM1_CH1 TIM1 GPIO(32) ALARM
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# --------------------- SPI1 -----------------------
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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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# --------------------- SPI2 -----------------------
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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 -----------------------
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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_INTERNAL_MASK 0
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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 GPIO(70)
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# --------------------- UARTs ---------------------------
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SERIAL_ORDER OTG1 USART1 USART3 UART4 UART5 USART2
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2
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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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# default to timer for RC input
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PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW
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# USART3
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PC10 USART3_TX USART3
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PC11 USART3_RX USART3
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# UART4, for GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# USART5
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# --------------------- ICM20602 -----------------------
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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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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# --------------------- RM3100 -------------------------
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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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# also probe for external compasses
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# --------------------- SD ----------------------------
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SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# --------------------- DPS310 ------------------------
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BARO DPS280 I2C:0:0x76
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# --------------------- ADC ---------------------------
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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 HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT2_MONITOR_DEFAULT 4
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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 BOARD_RSSI_ANA_PIN 12
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define HAL_DEFAULT_AIRSPEED_PIN 13
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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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# --------------------- save flash ----------------------
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define HAL_MINIMIZE_FEATURES 1
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define HAL_BATTMON_SMBUS_ENABLE 0
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define HAL_BATTMON_FUEL_ENABLE 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_WITH_DSP FALSE
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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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