mirror of https://github.com/ArduPilot/ardupilot
160 lines
4.1 KiB
PHP
160 lines
4.1 KiB
PHP
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# hw definition file for processing by chibios_pins.py
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# MCU class and specific type defined by concrete hwdef.dat
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FLASH_RESERVE_START_KB 4
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# board ID for firmware load
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APJ_BOARD_ID 3
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# Use tickless mode
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define CH_CFG_ST_FREQUENCY 1000
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define CH_CFG_ST_TIMEDELTA 0
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FLASH_SIZE_KB 64
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# order of UARTs
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SERIAL_ORDER EMPTY EMPTY EMPTY EMPTY
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define HAL_USE_UART TRUE
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# UART connected to FMU, uses DMA
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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define STM32_UART_USE_USART1 FALSE
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define STM32_UART_USE_USART2 TRUE
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define STM32_UART_USE_USART3 FALSE
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# UART for SBUS out, and RC in, no DMA
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define HAL_USE_SERIAL TRUE
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PB4 SBUS_OUT_EN OUTPUT LOW GPIO(1)
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PB10 USART3_TX USART3 SPEED_HIGH LOW
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PB11 USART3_RX USART3
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define STM32_SERIAL_USE_USART1 TRUE
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define STM32_SERIAL_USE_USART2 FALSE
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define STM32_SERIAL_USE_USART3 TRUE
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(101)
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(102)
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PB8 TIM4_CH3 TIM4 PWM(3) GPIO(103)
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PB9 TIM4_CH4 TIM4 PWM(4) GPIO(104)
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PA6 TIM3_CH1 TIM3 PWM(5) GPIO(105)
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PA7 TIM3_CH2 TIM3 PWM(6) GPIO(106)
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PB0 TIM3_CH3 TIM3 PWM(7) GPIO(107)
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PB1 TIM3_CH4 TIM3 PWM(8) GPIO(108)
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# pins for detecting board type. On a pixhawk2 PC14 is pulled high,
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# PC15 is pulled low. On a Pixhawk1 they are both floating
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PC14 IO_HW_DETECT1 INPUT PULLDOWN
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PC15 IO_HW_DETECT2 INPUT PULLUP
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PB14 HEATER INPUT PULLUP GPIO(0)
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# safety button and LED. These do not use the same names
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# as those for FMU-only boards as we want to handle them specially
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# inside the iofirmware
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PB5 SAFETY_INPUT INPUT PULLDOWN
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PB13 SAFETY_LED OUTPUT HIGH OPENDRAIN
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# amber LED
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PB15 AMBER_LED OUTPUT LOW OPENDRAIN
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# green ring LED on cube
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PA11 RING_LED OUTPUT LOW OPENDRAIN
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# UART for DSM input
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# TX side is for IO debug, and is unused
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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PC13 SPEKTRUM_PWR_EN OUTPUT LOW
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define HAL_GPIO_PIN_SPEKTRUM_OUT PAL_LINE(GPIOA,10U)
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PA8 RCIN INPUT SPEED_HIGH PULLDOWN # RC Input PPM
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# analog inputs
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PA4 VSERVO ADC1
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PA5 VRSSI ADC1
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define HAL_ADC_VSERVO_CHAN ADC_CHANNEL_IN4
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define HAL_ADC_VRSSI_CHAN ADC_CHANNEL_IN5
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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define HAL_DISABLE_ADC_DRIVER TRUE
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#Manually define ICU settings
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define HAL_USE_ICU TRUE
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define STM32_ICU_USE_TIM1 TRUE
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define RCIN_ICU_TIMER ICUD1
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define RCIN_ICU_CHANNEL ICU_CHANNEL_1
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define STM32_RCIN_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
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#DMA Channel Not relevant for F1 series
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define STM32_RCIN_DMA_CHANNEL 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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define HAL_INS_DEFAULT HAL_INS_NONE
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define HAL_BARO_DEFAULT HAL_BARO_NONE
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define HAL_NO_GPIO_IRQ
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#define CH_CFG_USE_DYNAMIC FALSE
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define SERIAL_BUFFERS_SIZE 32
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define HAL_USE_EMPTY_IO TRUE
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define PORT_INT_REQUIRED_STACK 64
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# avoid timer and RCIN threads to save memory
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define HAL_NO_TIMER_THREAD
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define HAL_NO_RCIN_THREAD
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define HAL_NO_MONITOR_THREAD
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define HAL_NO_RCOUT_THREAD # also disables LED thread
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define AP_HAL_SHARED_DMA_ENABLED 0
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#defined to turn off undef warnings
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define __FPU_PRESENT 0
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define HAL_USE_RTC FALSE
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define HAL_NO_FLASH_SUPPORT TRUE
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define HAL_NO_UARTDRIVER TRUE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define HAL_LOGGING_ENABLED 0
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define DMA_RESERVE_SIZE 0
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# reduce memory usage in RCInput
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define SOFTSIG_MAX_SIGNAL_TRANSITIONS 128
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define IOMCU_FW TRUE
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define AP_FASTBOOT_ENABLED 0
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IOMCU_FW 1
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# ChibiOS already correctly sets stack sizes and considers 64 extra as conservative
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undef PORT_INT_REQUIRED_STACK
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define PORT_INT_REQUIRED_STACK 64
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# "main" stack is only used for exceptions and ISR, but they can be nested
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MAIN_STACK 0x180
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PROCESS_STACK 0x250
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define HAL_DISABLE_LOOP_DELAY
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 0
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define AP_RCPROTOCOL_PPMSUM_ENABLED 1
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define AP_RCPROTOCOL_IBUS_ENABLED 1
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define AP_RCPROTOCOL_SBUS_ENABLED 1
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define AP_RCPROTOCOL_DSM_ENABLED 1
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define AP_RCPROTOCOL_SUMD_ENABLED 1
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define AP_RCPROTOCOL_SRXL_ENABLED 1
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define AP_RCPROTOCOL_ST24_ENABLED 1
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define AP_RCPROTOCOL_FPORT_ENABLED 1
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AUTOBUILD_TARGETS iofirmware
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define HAL_DSHOT_ENABLED 0
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define CH_DBG_ENABLE_STACK_CHECK 0
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