2024-03-01 09:06:21 -04:00
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# hw definition file for MicoAir405v2 hardware
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 1150
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 16
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# chip flash size & bootloader & firmware
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FLASH_SIZE_KB 1024
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FLASH_RESERVE_START_KB 48
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 1
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# board voltage
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STM32_VDD 330U
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# LEDs
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PA8 LED_BLUE OUTPUT LOW GPIO(0)
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PC4 LED_GREEN OUTPUT LOW GPIO(1)
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PC5 LED_RED OUTPUT LOW GPIO(2)
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2024-03-28 05:16:46 -03:00
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define HAL_GPIO_A_LED_PIN 2
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 0
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2024-03-01 09:06:21 -04:00
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define HAL_HAVE_PIXRACER_LED
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# only one I2C bus
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I2C_ORDER I2C1
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# spi1 bus for 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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# spi2 bus for IMU
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PB13 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# spi3 bus for SDCARD
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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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#CS pin
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PB12 AT7456E_CS CS
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PA4 SPL06_CS CS
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PC13 ACCEL_CS CS
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PC14 GYRO_CS CS
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PC9 SDCARD_CS CS
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# analog pins
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_VOLT_SCALE 21.2
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_CURR_SCALE 40.2
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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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# order of UARTs (and USB)
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# SERIAL_NUM|SER0|SER1 |SER2 |SER3 |SER4 |SER5 |SER6 |
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# FUNCTION |USB | |DJIO3 |GPS | |ESC |SBUS |
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
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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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# USART1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2
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PA2 USART2_TX USART2
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2024-03-28 05:16:46 -03:00
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PA3 USART2_RX USART2 NODMA
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2024-03-01 09:06:21 -04:00
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# USART3
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PB10 USART3_TX USART3 NODMA
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2024-03-28 05:16:46 -03:00
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PB11 USART3_RX USART3 NODMA
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2024-03-01 09:06:21 -04:00
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# UART4
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PA0 UART4_TX UART4
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2024-03-28 05:16:46 -03:00
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PA1 UART4_RX UART4 NODMA
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2024-03-01 09:06:21 -04:00
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# UART5
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2024-03-28 05:16:46 -03:00
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PD2 UART5_RX UART5 NODMA
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2024-03-01 09:06:21 -04:00
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# UART6
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6 NODMA
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PC15 SBUS_INV OUTPUT
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# 10 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 10
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2024-03-28 05:16:46 -03:00
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR
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2024-03-01 09:06:21 -04:00
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PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR
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PB3 TIM2_CH2 TIM2 PWM(4) GPIO(53)
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PB4 TIM3_CH1 TIM3 PWM(5) GPIO(54)
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PB5 TIM3_CH2 TIM3 PWM(6) GPIO(55)
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PB8 TIM4_CH3 TIM4 PWM(7) GPIO(56)
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PB9 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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PB14 TIM12_CH1 TIM12 PWM(9) GPIO(58) NODMA
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PB15 TIM12_CH2 TIM12 PWM(10) GPIO(59) NODMA
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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_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# imu & baro
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
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BARO SPL06 SPI:spl06
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# SPI devices
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SPIDEV osd SPI1 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI2 DEVID1 ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI2 DEVID2 GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV spl06 SPI2 DEVID3 SPL06_CS MODE3 1*MHZ 8*MHZ
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SPIDEV sdcard SPI3 DEVID5 SDCARD_CS MODE0 400*KHZ 25*MHZ
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# filesystem setup on sdcard
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define HAL_OS_FATFS_IO 1
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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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# 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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# reduce flash usage
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define HAL_MOUNT_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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define HAL_GENERATOR_ENABLED 0
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define HAL_VISUALODOM_ENABLED 0
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define AP_WINCH_ENABLED 0
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define AP_BEACON_ENABLED 0
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define AP_GRIPPER_ENABLED 0
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define AP_ICENGINE_ENABLED 0
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define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 0
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define OFFBOARD_GUIDED 0
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define QAUTOTUNE_ENABLED 0
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define EK3_FEATURE_EXTERNAL_NAV 0
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define AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 0
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define AC_PAYLOAD_PLACE_ENABLED 0
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