ardupilot/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat

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# hw definition file for processing by chibios_pins.py
# Airbot F4, Flip32 F4
# with F405 mcu, mpu6000 imu
MCU STM32F4xx STM32F405xx
HAL_CHIBIOS_ARCH_F405 1
# board ID for firmware load
APJ_BOARD_ID 128
# crystal frequency
OSCILLATOR_HZ 8000000
STM32_ST_USE_TIMER 5
# flash size
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 64
# order of I2C buses
I2C_ORDER I2C2
# order of UARTs
SERIAL_ORDER OTG1 USART1 EMPTY USART6
#adc
PC1 BAT_CURR_SENS ADC1 SCALE(1)
PC2 BAT_VOLT_SENS ADC1 SCALE(1)
PA0 RSSI_IN ADC1
#pwm output
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
PA10 USART1_RX USART1
PA9 USART1_TX USART1
PC6 USART6_TX USART6
PC7 USART6_RX USART6
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
PB3 FLASH_CS CS
PC12 SPI3_MOSI SPI3
PC11 SPI3_MISO SPI3
PC10 SPI3_SCK SPI3
PB5 LED OUTPUT HIGH GPIO(57)
PB4 TIM3_CH1 TIM3 GPIO(56) ALARM
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC5 VBUS INPUT OPENDRAIN
# "PPM" solder pad/resistor should be soldered and "S-BUS" resistor/solder pad removed
# Overwise UART1 or RCIN will not work
PB14 TIM12_CH1 TIM12 RCININT PULLDOWN LOW
# SPI Device table
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1
# one IMU
IMU Invensense SPI:mpu6000_cs ROTATION_YAW_180
# one baro
BARO MS56XX I2C:0:0x77
# no builtin compasses
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360
# define default battery setup
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 18.2
define HAL_GPIO_A_LED_PIN 57
# 64kB FLASH_RESERVE_START_KB means we're lacking a lot of space:
include ../include/minimize_features.inc