Mf407 v 3.5.7

123456

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+-----END OPENSSH PRIVATE KEY-----

123456.pub

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ardupilot

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+-----BEGIN OPENSSH PRIVATE KEY-----
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+-----END OPENSSH PRIVATE KEY-----

ardupilot.pub

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libraries/AP_HAL_ChibiOS/hwdef/mf407/matekf407.dat

@@ -0,0 +1,165 @@
+# hw definition file for MatekF405 hardware
+# tested on the MatekF405-OSD board
+# with thanks to betaflight for pinout
+
+
+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+# board ID for firmware load
+APJ_BOARD_ID 125
+
+# 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
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART3 UART4 USART1 UART5 USART2
+
+# 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
+
+
+
+# spi1 bus for IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# spi2 for OSD
+# PB13 SPI2_SCK SPI2
+# PB14 SPI2_MISO SPI2
+# PB15 SPI2_MOSI SPI2
+# PB10 MAX7456_CS CS
+
+# spi3 for sdcard and onboard flash
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+PC1 SDCARD_CS CS
+PC0 M25P16_CS CS
+
+PC2 MPU9250_CS CS
+
+# only one I2C bus in normal config
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# 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
+
+# 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)
+PC7  TIM8_CH2 TIM8 PWM(2) GPIO(51)
+PC8  TIM8_CH3 TIM8 PWM(3) GPIO(52)
+PC9  TIM8_CH4 TIM8 PWM(4) GPIO(53)
+PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
+PA8  TIM1_CH1 TIM1 PWM(6) GPIO(55)
+
+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:mpu9250 ROTATION_YAW_180
+
+# probe for I2C BMP280, but allow init on board variants without onboard baro too
+BARO BMP280 I2C:0:0x76
+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
+
+# SPI devices
+SPIDEV mpu9250   SPI1 DEVID1 MPU9250_CS MODE3 4*MHZ 8*MHZ 
+SPIDEV sdcard    SPI3 DEVID1 SDCARD_CS  MODE0 400*KHZ 25*MHZ
+# SPIDEV osd       SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
+
+# filesystem setup on sdcard
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+# disable parachute and sprayer to save flash
+define HAL_PARACHUTE_ENABLED 0
+define HAL_SPRAYER_ENABLED 0
+
+# save some flash
+include ../include/save_some_flash.inc
+include ../include/minimize_fpv_osd.inc

libraries/AP_HAL_ChibiOS/hwdef/mf407/matekf407_bl.dat

@@ -0,0 +1,37 @@
+# hw definition file for processing by chibios_pins.py
+# for minimal F405 bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+# board ID for firmware load
+APJ_BOARD_ID 125
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# LEDs
+PB9 LED_BOOTLOADER OUTPUT LOW
+PA14 LED_ACTIVITY  OUTPUT LOW
+define HAL_LED_ON 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 64
+
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# Add CS pins to ensure they are high in bootloader
+# PB10 MAX7456_CS CS
+PC1 SDCARD_CS CS
+PC0 M25P16_CS CS
+PC2 MPU9250_CS CS

v3.5.7.txt

@@ -0,0 +1 @@
+This branch is used to generate custom code for ArduCopter 3.5.7 firmware