2024-03-28 06:05:32 -03:00
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# hw definition file for processing by chibios_hwdef.py
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# for the NxtPX4v2 hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_NxtPX4v2
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# flash size
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 UART4 USART1 USART3 UART7 UART5 UART8
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PD0 VBUS INPUT OPENDRAIN
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# GPS1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# TELEM1
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# DJI O3
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# TELEM2
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PB9 UART4_TX UART4
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PB8 UART4_RX UART4
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# RC_INPUT
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PB13 UART5_TX UART5
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PB12 UART5_RX UART5
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PD14 SBUS_INV OUTPUT LOW
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# ESC
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PE7 UART7_RX UART7
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# TELEM3
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# SWD
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# two I2C bus
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I2C_ORDER I2C1 I2C4
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# I2C1 - baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C4 - CONNECTOR
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PD12 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# PWM output pins
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PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
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PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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PB10 TIM2_CH3 TIM2 PWM(5) GPIO(54) BIDIR
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PB11 TIM2_CH4 TIM2 PWM(6) GPIO(55)
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PB0 TIM3_CH3 TIM3 PWM(7) GPIO(56) BIDIR
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PB1 TIM3_CH4 TIM3 PWM(8) GPIO(57)
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# GPIOs
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PA4 PINIO1 OUTPUT GPIO(81) LOW
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PC1 PINIO2 OUTPUT GPIO(82) LOW
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PC0 PINIO3 OUTPUT GPIO(83) LOW
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# LEDs
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PD15 LED_RED OUTPUT HIGH GPIO(90)
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PD11 LED_GREEN OUTPUT HIGH GPIO(91)
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PB15 LED_BLUE OUTPUT HIGH GPIO(92)
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
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2024-03-28 06:05:32 -03:00
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define HAL_GPIO_LED_ON 1
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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2024-03-28 06:05:32 -03:00
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# ADC for Power
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PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC5 BATT_CURRENT_SENS ADC2 SCALE(1)
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define HAL_BATT_VOLT_PIN 4
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define HAL_BATT_CURR_PIN 8
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define HAL_BATT_VOLT_SCALE 10.2
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define HAL_BATT_CURR_SCALE 20.4
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# microSD support
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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define FATFS_HAL_DEVICE SDCD1
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# SPI1 - IMU0
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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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PA3 BMI088_1_G_CS CS
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PA2 BMI088_1_A_CS CS
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# SPI3 - CONNECTOR
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB2 SPI3_MOSI SPI3
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# SPI4 - IMU1
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PE6 SPI4_MOSI SPI4
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PC2 BMI088_2_G_CS CS
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PC13 BMI088_2_A_CS CS
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# barometers
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BARO SPL06 I2C:0:0x77
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# SPI devices
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SPIDEV imu0_a SPI1 DEVID1 BMI088_1_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV imu0_g SPI1 DEVID2 BMI088_1_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV imu1_a SPI4 DEVID3 BMI088_2_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV imu1_g SPI4 DEVID4 BMI088_2_G_CS MODE3 10*MHZ 10*MHZ
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# 2 IMUs
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IMU BMI088 SPI:imu0_a SPI:imu0_g ROTATION_ROLL_180_YAW_90
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IMU BMI088 SPI:imu1_a SPI:imu1_g ROTATION_ROLL_180_YAW_90
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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