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
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
# bootloader starts firmware at 64k
|
|
FLASH_RESERVE_START_KB 64
|
|
FLASH_SIZE_KB 1024
|
|
|
|
# store parameters in pages 11 and 12
|
|
define STORAGE_FLASH_PAGE 1
|
|
define HAL_STORAGE_SIZE 15360
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1014
|
|
|
|
define STM32_ST_USE_TIMER 5
|
|
define CH_CFG_ST_RESOLUTION 32
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
# --------------------- LED -----------------------
|
|
PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT
|
|
PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E
|
|
define HAL_GPIO_A_LED_PIN 91
|
|
define HAL_GPIO_B_LED_PIN 90
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
|
|
# --------------------- PWM -----------------------
|
|
PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50)
|
|
PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51)
|
|
PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52)
|
|
PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53)
|
|
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
|
|
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
|
|
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
|
|
PB7 TIM4_CH2 TIM4 PWM(8) GPIO(57)
|
|
|
|
PA15 TIM2_CH1 TIM2 PWM(9) GPIO(58) # LED pin
|
|
|
|
define STM32_PWM_USE_ADVANCED TRUE
|
|
|
|
# Beeper
|
|
PA8 TIM1_CH1 TIM1 GPIO(32) ALARM
|
|
|
|
|
|
# --------------------- SPI1 -----------------------
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
PA4 MPU_CS CS
|
|
|
|
|
|
# --------------------- SPI2 -----------------------
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
PB12 MAG_CS CS
|
|
|
|
# --------------------- SPI3 -----------------------
|
|
PB3 SPI3_SCK SPI3
|
|
PB4 SPI3_MISO SPI3
|
|
PB5 SPI3_MOSI SPI3
|
|
PC14 SDCARD_CS CS
|
|
|
|
|
|
# -------------------- I2C bus --------------------
|
|
I2C_ORDER I2C2
|
|
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
|
|
|
|
# -------------------- CAN bus ---------------------
|
|
PB8 CAN1_RX CAN1
|
|
PB9 CAN1_TX CAN1
|
|
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
|
|
|
|
|
# --------------------- UARTs ---------------------------
|
|
SERIAL_ORDER OTG1 USART1 USART3 UART4 UART5 USART2
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
# USART1
|
|
PA9 USART1_TX USART1
|
|
PA10 USART1_RX USART1
|
|
|
|
# USART2
|
|
# alternative using USART2
|
|
PA2 USART2_TX USART2 NODMA
|
|
PA3 USART2_RX USART2 NODMA ALT(1)
|
|
|
|
# default to timer for RC input
|
|
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
|
|
|
|
# USART3
|
|
PC10 USART3_TX USART3
|
|
PC11 USART3_RX USART3
|
|
|
|
# UART4, for GPS
|
|
PA0 UART4_TX UART4
|
|
PA1 UART4_RX UART4
|
|
|
|
# USART5
|
|
PC12 UART5_TX UART5
|
|
PD2 UART5_RX UART5
|
|
|
|
|
|
# --------------------- ICM20602 -----------------------
|
|
SPIDEV icm20602 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ
|
|
IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
|
|
|
|
|
# --------------------- RM3100 -------------------------
|
|
SPIDEV rm3100 SPI2 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
|
|
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
|
|
|
|
# also probe for external compasses
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
|
|
# --------------------- SD ----------------------------
|
|
SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
|
|
# --------------------- DPS310 ------------------------
|
|
BARO DPS280 I2C:0:0x76
|
|
|
|
|
|
# --------------------- ADC ---------------------------
|
|
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
PC2 RSSI_ADC_PIN ADC1 SCALE(1)
|
|
PC3 PRESSURE_SENS ADC1 SCALE(1)
|
|
PC5 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
|
|
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
define HAL_BATT2_MONITOR_DEFAULT 4
|
|
|
|
define HAL_BATT_VOLT_PIN 10
|
|
define HAL_BATT_VOLT_SCALE 21.0
|
|
|
|
define HAL_BATT_CURR_PIN 11
|
|
define HAL_BATT_CURR_SCALE 40.0
|
|
|
|
define BOARD_RSSI_ANA_PIN 12
|
|
define HAL_DEFAULT_AIRSPEED_PIN 13
|
|
|
|
define HAL_BATT2_VOLT_PIN 15
|
|
define HAL_BATT2_VOLT_SCALE 11.0
|
|
|
|
|
|
# --------------------- save flash ----------------------
|
|
define HAL_MINIMIZE_FEATURES 1
|
|
|
|
define HAL_BATTMON_SMBUS_ENABLE 0
|
|
define HAL_BATTMON_FUEL_ENABLE 0
|
|
define HAL_PARACHUTE_ENABLED 0
|
|
define HAL_SPRAYER_ENABLED 0
|
|
|
|
define HAL_WITH_DSP FALSE
|
|
|
|
# reduce max size of embedded params for apj_tool.py
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
|
|
|
|
|