mirror of https://github.com/ArduPilot/ardupilot
172 lines
3.4 KiB
Plaintext
172 lines
3.4 KiB
Plaintext
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# hw definition file for processing by chibios_pins.py
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# MCU class and specific type
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# MCU class and specific type
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MCU STM32F7xx STM32F732xx
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# bootloader starts firmware at 64k
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FLASH_RESERVE_START_KB 64
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# store parameters in pages 2 and 3
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define STORAGE_FLASH_PAGE 2
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define HAL_STORAGE_SIZE 8192
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# board ID for firmware load
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APJ_BOARD_ID 1028
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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STM32_ST_USE_TIMER 5
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# enable watchdog
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define HAL_WATCHDOG_ENABLED_DEFAULT true
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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# order of UARTs
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SERIAL_ORDER OTG1 USART2 USART3
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# a LED to flash (disabled as used for safety LED)
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# PA6 LED OUTPUT HIGH
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# define HAL_LED_ON 0
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# USART2 for F9P GPS UART2
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA
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# USART3 for F9P GPS UART1
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# Now we define the pins that USB is connected on.
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# two I2C buses
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PB7 I2C1_SDA I2C1
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PB6 I2C1_SCL I2C1
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PC9 I2C3_SDA I2C3
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PA8 I2C3_SCL I2C3
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# adjust I2C timing from Stm32CubeMX, with 100ns rise, 100ns fall
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define HAL_I2C_F7_100_TIMINGR 0x10906999
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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define STM32_I2C_USE_I2C3 TRUE
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 3
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I2C_ORDER I2C1 I2C3
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# one SPI bus
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PB3 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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# SPI CS
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PA15 IMU_CS CS
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# SPI devices
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SPIDEV lsm6ds3 SPI3 DEVID1 IMU_CS MODE0 1*MHZ 8*MHZ
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# compass
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_PITCH_90
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# baro
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BARO BMP388 I2C:0:0x77
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# safety LED, active low is same as main LED
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PA6 SAFE_LED OUTPUT HIGH
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define SAFE_LED_ON 0
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# safety button
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PC14 SAFE_BUTTON INPUT FLOATING
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define HAL_SAFE_BUTTON_ON 1
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_NO_GPIO_IRQ
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# avoid RCIN thread to save memory
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define HAL_NO_RCIN_THREAD
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define HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 0
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define PERIPH_FW TRUE
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define HAL_DISABLE_LOOP_DELAY
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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# use DNA
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define HAL_CAN_DEFAULT_NODE_ID 0
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define CAN_APP_NODE_NAME "org.ardupilot.FreeflyRTK"
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define HAL_NO_GCS
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define HAL_NO_MONITOR_THREAD
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define HAL_MINIMIZE_FEATURES 0
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define HAL_BUILD_AP_PERIPH
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define HAL_DEVICE_THREAD_STACK 768
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 256
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG+BARO+Buzzer+NeoPixels
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define HAL_PERIPH_ENABLE_BARO
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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# use NCP5623 RGB LED on I2C1
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define BUILD_DEFAULT_LED_TYPE 128
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define BARO_MAX_INSTANCES 1
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define HAL_PERIPH_GPS_PORT_DEFAULT 2
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# use the app descriptor needed by MissionPlanner for CAN upload
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env APP_DESCRIPTOR MissionPlanner
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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# listen for reboot command from uploader.py script
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# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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