2022-01-24 03:32:23 -04:00
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# hw definition file for processing by chibios_pins.py
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# hardware repository: https://github.com/ARK-Electronics/ARK_GPS
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# MCU class and specific type
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# note: the device is STM32F412CE, not all F412 pins are available
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MCU STM32F4xx STM32F412Rx
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# board ID for firmware load
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APJ_BOARD_ID 81
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env AP_PERIPH 1
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# bootloader starts firmware at 64k
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FLASH_RESERVE_START_KB 64
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# assume 512k flash size
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FLASH_SIZE_KB 512
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# order of I2C buses
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I2C_ORDER I2C1 I2C2
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define HAL_I2C_INTERNAL_MASK 3
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# order of UARTs
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# SERIAL_ORDER can be empty - only used to update firmware with uart in addition to can
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SERIAL_ORDER USART2 USART1
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# pin definitions
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# PWM output for buzzer
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PA0 TIM2_CH1 TIM2 GPIO(77) LOW ALARM
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# safety LED, active low
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PA1 SAFE_LED OUTPUT HIGH
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define SAFE_LED_ON 0
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# USART1 for GPS
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PA15 USART1_TX USART1
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PB3 USART1_RX USART1
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# USART2 debug
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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# SPI bus
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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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# LEDs
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PA8 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
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PA9 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
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PA10 LED_B1 OUTPUT OPENDRAIN LOW GPIO(2)
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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2022-01-24 03:32:23 -04:00
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# use pixracer style 3-LED indicators
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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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2022-01-24 03:32:23 -04:00
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# CAN bus
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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# pins for SWD debugging with a STlink or black-magic probe.
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CS and DRDY
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PB0 MPU_CS CS
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PB1 MPU_DRDY INPUT
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# I2C bus for magnetometer
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# SPI1 FSYNC for ICM42688p
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# PB8 TIM10_CH1 TIM10
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# I2C bus for barometer
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PB9 I2C2_SDA I2C2
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PB10 I2C2_SCL I2C2
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PB12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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2023-02-15 17:43:26 -04:00
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PB13 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
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2022-01-24 03:32:23 -04:00
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# magnetometer
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COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
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# barometer
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BARO BMP388 I2C:1:0x76
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# store parameters in pages 2 and 3
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STORAGE_FLASH_PAGE 2
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define HAL_STORAGE_SIZE 8192
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# no ADC pins
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define HAL_USE_ADC FALSE
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# safety button
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PB15 SAFE_BUTTON INPUT PULLDOWN
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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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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_BUZZER
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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# GPS on 2nd port
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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2024-03-31 21:00:58 -03:00
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define HAL_SERIAL_ESC_COMM_ENABLED 1
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2024-04-01 03:38:32 -03:00
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define HAL_RCIN_THREAD_ENABLED 1
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2024-04-01 19:47:40 -03:00
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define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
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