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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_PLLM_VALUE 8
- # board voltage
- STM32_VDD 330U
- 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
- UART_ORDER OTG1 USART6 USART1
- #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
- define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_AIRBOTF4
- # 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_COMPASS_DEFAULT HAL_COMPASS_NONE
- define HAL_PROBE_EXTERNAL_I2C_COMPASSES
- define HAL_I2C_INTERNAL_MASK 0
- define HAL_COMPASS_AUTO_ROT_DEFAULT 2
- define 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
- #To complementary channels work we define this
- define STM32_PWM_USE_ADVANCED TRUE
- define BOARD_PWM_COUNT_DEFAULT 6
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