# hw definition file for processing by chibios_pins.py # for Sparky2 hardware # MCU class and specific type MCU STM32F4xx STM32F405xx # board ID for firmware load APJ_BOARD_ID 130 # crystal frequency OSCILLATOR_HZ 8000000 STM32_PLLM_VALUE 8 define STM32_ST_USE_TIMER 5 FLASH_SIZE_KB 1024 # board voltage STM32_VDD 330U # use USB for stdout, so no STDOUT_SERIAL # STDOUT_SERIAL SD1 # STDOUT_BAUDRATE 115200 # --------LEDs----------- PB7 LED_BLUE OUTPUT LOW GPIO(0) PB4 LED_YELLOW OUTPUT LOW GPIO(1) # optional PD2 LED_RED OUTPUT LOW GPIO(2) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 # ---------I2C------------- # only one I2C bus I2C_ORDER I2C3 PA8 I2C3_SCL I2C3 PC9 I2C3_SDA I2C3 # ---------USB------------- PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 #PA8 VBUS INPUT OPENDRAIN # ---------UARTS----------- # order of UARTs (and USB) UART_ORDER OTG1 USART1 USART3 UART4 # Main PORT PA9 USART1_TX USART1 PA10 USART1_RX USART1 # Flex PORT PB10 USART3_TX USART3 PB11 USART3_RX USART3 # S PORT PA0 UART4_TX UART4 PA1 UART4_RX UART4 # -------RCIN------------- # Soft Serial for serial RC & PPM PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW PC6 SBUS_INVERT OUTPUT # -------ADC------------- analog pins PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) #PC2 BATT_CURRENT_SENS ADC1 SCALE(1) # define default battery setup No Voltage Divider define HAL_BATT_VOLT_PIN 12 define HAL_BATT_CURR_PIN 13 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 # -----CAN BUS------------- PB9 CAN1_TX CAN1 PB8 CAN1_RX CAN1 PB6 CAN2_TX CAN2 PB5 CAN2_RX CAN2 # -----spi bus for IMU----- #PA5 SPI1_SCK SPI1 #PA6 SPI1_MISO SPI1 #PA7 SPI1_MOSI SPI1 #PC4 MPU_CS CS #PC5 EXTI_MPU9250 INPUT PULLUP # -----spi bus for IMU----- PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB12 MPU_CS CS PA15 EXTI_MPU9250 INPUT PULLUP # -----spi bus for FLASH----- PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 PB3 FLASH_CS CS # -----USB & SWD----------- # PA10 IO-debug-console PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # ----------PWM----------- PD12 TIM4_CH1 TIM4 PWM(1) GPIO(50) PD13 TIM4_CH2 TIM4 PWM(2) GPIO(51) PD14 TIM4_CH3 TIM4 PWM(3) GPIO(52) PD15 TIM4_CH4 TIM4 PWM(4) GPIO(53) #PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54) #PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55) # Buffered PWM N-Fets---- # Require inverter to use # as standard pwm # PC9 TIM8_CH4 TIM8 PWM(7) # PC8 TIM8_CH3 TIM8 PWM(8) # PB15 TIM8_CH3N TIM8 PWM(9) # PB14 TIM1_CH2N TIM1 PWM(7) GPIO(35) define HAL_STORAGE_SIZE 15360 define STORAGE_FLASH_PAGE 1 # reserve 16k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 # one IMU IMU Invensense SPI:mpu9250 ROTATION_NONE # one baro BARO MS56XX I2C:0:0x77 # one compass in mpu9250 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE COMPASS IST8310 I2C:0:0x0C false ROTATION_PITCH_180_YAW_270 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 # SPI devices SPIDEV mpu9250 SPI2 DEVID4 MPU_CS MODE3 1*MHZ 4*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 1*MHZ 8*MHZ # enable logging to dataflash define HAL_LOGGING_DATAFLASH define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_SPARKY2 #define STM32_PWM_USE_ADVANCED TRUE define BOARD_PWM_COUNT_DEFAULT 4 # we are low on flash on this board define HAL_MINIMIZE_FEATURES 1