ardupilot/libraries/AP_HAL_ChibiOS/hwdef/QioTekAdeptF407/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py
# for QioTekZealotF407 hardware from Qio-tek.com
# MCU class and specific type
MCU CKS32F4xx CKS32F407xx
# board ID for firmware load
APJ_BOARD_ID 1065
FLASH_SIZE_KB 1024
# reserve 16k for bootloader
FLASH_RESERVE_START_KB 16
# USB setup
USB_STRING_MANUFACTURER "Qiotek"
# crystal frequency
OSCILLATOR_HZ 8000000
# ChibiOS system timer
STM32_ST_USE_TIMER 5
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# this is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN
PA9 VBUS INPUT OPENDRAIN
# The normal usage of this ordering is:
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL1: telem1
# 3) SERIAL2: telem2 (recommend ESP8266)
# 4) SERIAL3: primary GPS
# 5) SERIAL4: telem3 or GPS2
# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)
SERIAL_ORDER OTG1 USART6 USART3 USART1 UART4 USART2
# UART3
PD8 USART3_TX USART3
PD9 USART3_RX USART3
# USART2 for Mavlink2 wifi module set baudrate to 921600
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2
# USART1 for gps1
PB6 USART1_TX USART1
PB7 USART1_RX USART1
# UART4
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
# USART6
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA
# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
# SPI1 for IMU Baro OSD
PA5 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PB5 SPI1_MOSI SPI1
PD3 IMU1_CS CS
PD4 IMU2_CS CS
PD7 IMU3_CS CS
PB3 Baro1_CS CS
PE4 Baro2_CS CS
PE6 AT7456_CS CS
# SPI bus for dataflash
PB13 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2
PC13 FRAM_CS CS SPEED_VERYLOW
# SPI devices
SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
SPIDEV imu2 SPI1 DEVID2 IMU2_CS MODE3 2*MHZ 8*MHZ
SPIDEV imu3 SPI1 DEVID3 IMU3_CS MODE3 2*MHZ 8*MHZ
SPIDEV baro1 SPI1 DEVID2 Baro1_CS MODE3 5*MHZ 5*MHZ
SPIDEV baro2 SPI1 DEVID1 Baro2_CS MODE3 5*MHZ 5*MHZ
SPIDEV osd SPI1 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE0 8*MHZ 8*MHZ
# four IMUs, adi16740 is used, then imu3 will be removed
IMU Invensensev3 SPI:imu1 ROTATION_NONE
IMU Invensensev3 SPI:imu2 ROTATION_NONE
IMU Invensense SPI:imu2 ROTATION_PITCH_180
# two Baro sensors
BARO DPS280 SPI:baro1
#BARO DPS280 SPI:baro2
# define the pins for the microSD card.
PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
PC11 SDIO_D3 SDIO
PC12 SDIO_CK SDIO
PD2 SDIO_CMD SDIO
# enable FAT filesystem support
define HAL_OS_FATFS_IO 1
# define the order that I2C buses
I2C_ORDER I2C1 I2C2
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
# look for I2C compass
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180
COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 1
# PWM out pins
PA6 TIM3_CH1 TIM3 PWM(1) GPIO(50)
PA7 TIM3_CH2 TIM3 PWM(2) GPIO(51)
PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)
PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53)
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
PE7 EXTERN_GPIO1 OUTPUT GPIO(1)
PE8 EXTERN_GPIO2 OUTPUT GPIO(2)
PE2 EXTERN_GPIO3 OUTPUT GPIO(3)
PE3 EXTERN_GPIO4 OUTPUT GPIO(4)
PE1 EXTERN_GPIO5 OUTPUT GPIO(5)
PE0 EXTERN_GPIO6 OUTPUT GPIO(6)
# also USART6_RX for serial RC
PA15 TIM2_CH1 TIM2 RCININT PULLDOWN LOW
# LED setup is similar to PixRacer
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
PE10 LED_RED OUTPUT GPIO(10)
PE12 LED_GREEN OUTPUT GPIO(11)
PE15 LED_BLUE OUTPUT GPIO(12)
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 10
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 11
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12
# analog in 6.6V
PC1 ADC_1 ADC1 SCALE(2)
# define the primary battery connectors.
PA3 BATT_CURRENT_SENS ADC1 SCALE(2)
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(2)
PC5 BATT2_CURRENT_SENS ADC1 SCALE(2)
PC4 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
PA4 VDD_5V_SENS ADC1 SCALE(2)
PC0 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
#PB2 HEATER_EN OUTPUT LOW GPIO(5)
#define HAL_HEATER_GPIO_PIN 5
#define HAL_IMU_TEMP_DEFAULT 45
define HAL_HAVE_SAFETY_SWITCH 1
PB15 LED_SAFETY OUTPUT
PB12 SAFETY_IN INPUT PULLDOWN
PB14 TIM12_CH1 TIM12 ALARM
# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1
define HAL_STORAGE_SIZE 16384
# --------------------- save flash ----------------------
include ../include/minimize_features.inc
# setup for OSD
undef OSD_ENABLED
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font1.bin