mirror of https://github.com/ArduPilot/ardupilot
155 lines
3.2 KiB
Plaintext
155 lines
3.2 KiB
Plaintext
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# hw definition file for processing by chibios_pins.py
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# for Foxeer Reaper AIO V2 F745
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 1074
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 96
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
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# Buzzer - DMA timer channel use by LEDs
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PD2 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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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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# Debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for OSD
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PA4 AT7456E_CS CS
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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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# SPI2
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#PA15 FLASH_CS CS
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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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# SPI3 for Gyro
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PA15 BMI270_CS CS
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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# SPI4 for Flash
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PE4 FLASH_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# I2C1 for baro
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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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_BATT_VOLT_SCALE 10.9
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define HAL_BATT_CURR_SCALE 100
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define HAL_BATT_MONITOR_DEFAULT 4
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PC5 RSSI_ADC ADC1
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# USART1 (DJI RCIN)
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PA10 USART1_RX USART1 NODMA
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# USART2 (RX)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
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# USART3
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PB10 USART3_TX USART3 NODMA
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PB11 USART3_RX USART3 NODMA
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# UART4 (Camera)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# UART7 (GPS)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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# Motors
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PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # 1
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PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51) # 2
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PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR # 3
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) # 4
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# NeoPixel LED strip
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PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED
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DMA_PRIORITY USART2* TIM3* TIM1*
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define HAL_STORAGE_SIZE 16384
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STORAGE_FLASH_PAGE 1
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# spi devices
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SPIDEV bmi270 SPI3 DEVID1 BMI270_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI4 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
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# no built-in compass and no external I2C so no compass
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define ALLOW_ARM_NO_COMPASS
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define HAL_I2C_INTERNAL_MASK 0
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# one IMU bmi270
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# no BARO
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define HAL_BARO_ALLOW_INIT_NO_BARO 1
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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/font0.bin
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define STM32_PWM_USE_ADVANCED TRUE
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# save some flash
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define HAL_GENERATOR_ENABLED 0
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define AC_OAPATHPLANNER_ENABLED 0
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define PRECISION_LANDING 0
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define HAL_BARO_WIND_COMP_ENABLED 0
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define GRIPPER_ENABLED 0
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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define AP_BATTMON_SMBUS_ENABLE 0
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define AP_BATTMON_FUEL_ENABLE 0
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define AP_OPTICALFLOW_ENABLED 0
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