HAL_ChibiOS: Add QioTekZealotF427 build target
I've added the hwdef to support the QioTekZealotF427
It has 3 IMU sensors(ICM20698,ICM20602,BMI055), a Compass(Ist8310),
2Baro sensors(DSP310,MS5611), an integrated analog OSD, 14motor
outputs, 4Relay output, 5uarts, 2Power Module input, an i2c, a Can.
2020-09-26 05:04:21 -03:00
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# hw definition file for processing by chibios_hwdef.py
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# for QioTekZealotF427 hardware from Qio-tek.com
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# MCU class and specific type
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MCU STM32F4xx STM32F427xx
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# board ID for firmware load
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APJ_BOARD_ID 1021
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O2
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# this is the STM32 timer that ChibiOS will use for the low level
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# driver. This must be a 32 bit timer. We currently only support
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# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# this is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN
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PA9 VBUS INPUT OPENDRAIN
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# The normal usage of this ordering is:
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# 1) SERIAL0: console (primary mavlink, usually USB)
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# 2) SERIAL1: telem1
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# 3) SERIAL2: telem2 (recommend ESP8266)
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# 4) SERIAL3: primary GPS
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# 5) SERIAL4: telem3 or GPS2
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# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)
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SERIAL_ORDER OTG1 USART2 USART1 USART3 UART4 UART5
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# UART1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# USART2 for Mavlink2 wifi module set baudrate to 921600
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2
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define HAL_SERIAL2_PROTOCOL SerialProtocol_MAVLink2
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define HAL_SERIAL2_BAUD 921600
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# USART3 for gps1
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3
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# UART4
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PC10 UART4_TX UART4 NODMA
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PC11 UART4_RX UART4 NODMA
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# UART5
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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define HAL_STORAGE_SIZE 16384
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# SPI1 for IMU Baro OSD
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA4 ICM20689_CS CS
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PE10 MAX7456_CS CS
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PB2 ICM20602_CS CS
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PC15 DPS310_CS CS
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PD3 BMI055_G_CS CS
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PD4 BMI055_A_CS CS
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# PA8 ICM20649_CS CS
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# SPI bus for dataflash AND SD
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PB12 FRAM_CS CS SPEED_VERYLOW
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PE15 FLASH_CS CS
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# SPI3 bus for reserve
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ
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SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ
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# SPIDEV icm20649 SPI1 DEVID5 ICM20649_CS MODE3 2*MHZ 8*MHZ
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SPIDEV dps310 SPI1 DEVID2 DPS310_CS MODE3 5*MHZ 5*MHZ
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SPIDEV osd SPI1 DEVID2 MAX7456_CS MODE0 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 1*MHZ 8*MHZ
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# Three IMUs, icm20649 for reserve
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IMU Invensense SPI:icm20689 ROTATION_NONE
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IMU Invensense SPI:icm20602 ROTATION_NONE
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IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
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IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
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# IMU Invensensev2 SPI:icm20649 ROTATION_NONE
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# one baro, check both addressess
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BARO DPS280 SPI:dps310
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BARO MS56XX I2C:0:0x76
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BARO MS56XX I2C:0:0x77
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# enable FAT filesystem support
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define HAL_OS_FATFS_IO 1
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# now some defines for logging and terrain data files
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# define the order that I2C buses
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I2C_ORDER I2C2 I2C1
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# look for I2C compass
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2020-10-25 10:27:05 -03:00
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
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COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270
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HAL_ChibiOS: Add QioTekZealotF427 build target
I've added the hwdef to support the QioTekZealotF427
It has 3 IMU sensors(ICM20698,ICM20602,BMI055), a Compass(Ist8310),
2Baro sensors(DSP310,MS5611), an integrated analog OSD, 14motor
outputs, 4Relay output, 5uarts, 2Power Module input, an i2c, a Can.
2020-09-26 05:04:21 -03:00
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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2020-10-25 10:27:05 -03:00
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define HAL_I2C_INTERNAL_MASK 1
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HAL_ChibiOS: Add QioTekZealotF427 build target
I've added the hwdef to support the QioTekZealotF427
It has 3 IMU sensors(ICM20698,ICM20602,BMI055), a Compass(Ist8310),
2Baro sensors(DSP310,MS5611), an integrated analog OSD, 14motor
outputs, 4Relay output, 5uarts, 2Power Module input, an i2c, a Can.
2020-09-26 05:04:21 -03:00
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# PWM out pins
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
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PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
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PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
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PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
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PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58)
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PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59)
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PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60)
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PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61)
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PC9 TIM3_CH4 TIM3 PWM(13) GPIO(62) NODMA
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PC8 TIM3_CH3 TIM3 PWM(14) GPIO(63) NODMA
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PC14 EXTERN_GPIO1 GPIO(1)
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PC13 EXTERN_GPIO2 GPIO(2)
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PE4 EXTERN_GPIO3 GPIO(3)
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PE6 EXTERN_GPIO4 GPIO(4)
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define RELAY1_PIN_DEFAULT 1
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define RELAY2_PIN_DEFAULT 2
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define RELAY3_PIN_DEFAULT 3
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define RELAY4_PIN_DEFAULT 4
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# also USART6_RX for serial RC
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PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0
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# LED setup is similar to PixRacer
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define HAL_HAVE_PIXRACER_LED
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PE3 LED_RED OUTPUT GPIO(10)
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PE2 LED_GREEN OUTPUT GPIO(11)
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PE1 LED_BLUE OUTPUT GPIO(12)
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PE0 LED_YELOW OUTPUT GPIO(13)
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define HAL_GPIO_A_LED_PIN 10
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define HAL_GPIO_B_LED_PIN 11
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define HAL_GPIO_C_LED_PIN 12
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# analog in
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PC0 PRESSURE_SENS ADC1 SCALE(2)
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PC1 RSSI_IN ADC1 SCALE(2)
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# define the primary battery connectors.
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PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
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PB0 BATT2_CURRENT_SENS ADC1 SCALE(2)
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PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
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PC4 VDD_5V_SENS ADC1 SCALE(2)
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PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT2_VOLT_PIN 9
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define HAL_BATT2_CURR_PIN 8
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2020-10-25 10:27:05 -03:00
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define HAL_BATT_VOLT_SCALE 17.5
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HAL_ChibiOS: Add QioTekZealotF427 build target
I've added the hwdef to support the QioTekZealotF427
It has 3 IMU sensors(ICM20698,ICM20602,BMI055), a Compass(Ist8310),
2Baro sensors(DSP310,MS5611), an integrated analog OSD, 14motor
outputs, 4Relay output, 5uarts, 2Power Module input, an i2c, a Can.
2020-09-26 05:04:21 -03:00
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define HAL_BATT_CURR_SCALE 17
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2020-10-25 10:27:05 -03:00
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define HAL_BATT2_VOLT_SCALE 17.5
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define HAL_BATT2_CURR_SCALE 17
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HAL_ChibiOS: Add QioTekZealotF427 build target
I've added the hwdef to support the QioTekZealotF427
It has 3 IMU sensors(ICM20698,ICM20602,BMI055), a Compass(Ist8310),
2Baro sensors(DSP310,MS5611), an integrated analog OSD, 14motor
outputs, 4Relay output, 5uarts, 2Power Module input, an i2c, a Can.
2020-09-26 05:04:21 -03:00
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define HAL_HAVE_IMU_HEATER 1
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PE12 HEATER_EN OUTPUT LOW GPIO(5)
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define HAL_HEATER_GPIO_PIN 5
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2020-10-25 10:27:05 -03:00
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define HAL_IMU_TEMP_DEFAULT 45
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HAL_ChibiOS: Add QioTekZealotF427 build target
I've added the hwdef to support the QioTekZealotF427
It has 3 IMU sensors(ICM20698,ICM20602,BMI055), a Compass(Ist8310),
2Baro sensors(DSP310,MS5611), an integrated analog OSD, 14motor
outputs, 4Relay output, 5uarts, 2Power Module input, an i2c, a Can.
2020-09-26 05:04:21 -03:00
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define HAL_HAVE_SAFETY_SWITCH 1
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PE7 LED_SAFETY OUTPUT
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PE8 SAFETY_IN INPUT PULLDOWN
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PE5 TIM9_CH1 TIM9 ALARM
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# drdy pins
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PA15 DRDY_ICM20689 INPUT
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PA10 DRDY_ICM20602 INPUT
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# PD11 DRDY_ICM20649 INPUT
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define BOARD_PWM_COUNT_DEFAULT 14
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