hwdef.dat

# hw definition file for CBUnmanned CM405-FC hardware
# More Information can be found at cbunmanned.com

define AP_CUSTOM_FIRMWARE_STRING "CBU-CM405"

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 5542

# crystal frequency
OSCILLATOR_HZ 8000000

define STM32_ST_USE_TIMER 4
define CH_CFG_ST_RESOLUTION 16

FLASH_SIZE_KB 1024



# only one I2C bus
I2C_ORDER I2C1

# only one I2C bus in normal config
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1



# LEDs
PB9 LED_BLUE OUTPUT LOW GPIO(0)
PA14 LED_GREEN OUTPUT LOW GPIO(1)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1



# buzzer
PC13 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0



# SPI1 for ICM-20602
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PC2 ICM20602_CS CS
PA4 icm20602_INT INPUT

# SPI2 for BMI270
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB10 BMI270_CS CS

# spi3 for sdcard and onboard flash
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PC1 SDCARD_CS CS

# SPI devices
SPIDEV icm20602 SPI1 DEVID1 ICM20602_CS MODE3  2*MHZ  10*MHZ
SPIDEV bmi270 SPI2 DEVID1 BMI270_CS MODE3  1*MHZ  10*MHZ
SPIDEV sdcard SPI3 DEVID1 SDCARD_CS  MODE0 400*KHZ 25*MHZ



# analog pins
PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
PB1 RSSI_ADC_PIN ADC1 SCALE(1)



# define default battery setup
# PC5 - ADC12_CH15
define HAL_BATT_VOLT_PIN 15
# PC4 - ADC12_CH14
define HAL_BATT_CURR_PIN 14
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0



#analog rssi pin (also could be used as analog airspeed input)
# PB1 - ADC12_CH9
define BOARD_RSSI_ANA_PIN 9



# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART3 UART4 USART1 UART5 USART2



# USART1
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# RC input using timer
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN

# alternative RC input using UART
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA ALT(1)

# USART3
PC10 USART3_TX USART3
PC11 USART3_RX USART3

# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# UART5
PD2  UART5_RX UART5
PC12 UART5_TX UART5



# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1



# USB detection
PB12 VBUS INPUT OPENDRAIN



# debug (disabled out to allow for both LEDs)
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD



# PWM out pins. Note that channel order follows the ArduPilot motor
# order conventions
PC6  TIM3_CH1 TIM3 PWM(1) GPIO(50) # For plane, Aileron L
PC7  TIM8_CH2 TIM8 PWM(2) GPIO(51) # For plane, Motor 1 (same Timer)
PC8  TIM8_CH3 TIM8 PWM(3) GPIO(52) # For plane, Motor 2 (same Timer)
PC9  TIM8_CH4 TIM8 PWM(4) GPIO(53) # For plane, Rudder
PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) # For plane, Aileron R
PA8  TIM1_CH1 TIM1 PWM(6) GPIO(55) # For plane, Elevator



define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 2



# reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64



# one IMU
IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
IMU BMI270 SPI:bmi270 ROTATION_YAW_180

define HAL_DEFAULT_INS_FAST_SAMPLE 1



# probe for I2C BMP280, but allow init on board variants without onboard baro too
BARO BMP280 I2C:0:0x76
define HAL_PROBE_EXTERNAL_I2C_BAROS
define HAL_BARO_ALLOW_INIT_NO_BARO
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_BMP280_ENABLED 1



# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2



# filesystem setup on sdcard
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/CM405-FC/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/CM405-FC/APM/TERRAIN"


# disable SMBUS battery monitors to save flash
define AP_BATTMON_SMBUS_ENABLE 0


# disable parachute and sprayer to save flash
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0



# enable MSP optical flow and range finder
define AP_OPTICALFLOW_ENABLED 1
define HAL_MSP_SENSORS_ENABLED 1
define HAL_MSP_OPTICALFLOW_ENABLED 1
define HAL_MSP_RANGEFINDER_ENABLED 1


# reduce max size of embedded params for apj_tool.py
define AP_PARAM_MAX_EMBEDDED_PARAM 1024

# save some flash
define OSD_ENABLED 0
define HAL_WITH_MSP_DISPLAYPORT 0

define HAL_GENERATOR_ENABLED 0
define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
define AP_ICENGINE_ENABLED 0
define HAL_BARO_WIND_COMP_ENABLED 0

# only include ublox GPS driver
include ../include/minimal_GPS.inc