mirror of https://github.com/ArduPilot/ardupilot
146 lines
3.1 KiB
Plaintext
146 lines
3.1 KiB
Plaintext
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# hw definition file for processing by chibios_pins.py
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# for OMNIBUSF7V2 hardware.
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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 121
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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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# reserve one sector for bootloader and 2 for storage
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FLASH_RESERVE_START_KB 96
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# only one I2C bus
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I2C_ORDER I2C2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART3 USART6 USART2 UART7
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PE0 LED0 OUTPUT LOW
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PD15 TIM4_CH4 TIM4 GPIO(57) ALARM
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# ICM-20608 on SPI1
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PA4 MPU6000_CS CS
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# MPU6500 on SPI3
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PA15 MPU6500_CS CS
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# SPI1 for IMU and baro
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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 for MAX7456 OSD
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PB12 MAX7456_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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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 SDCard
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PE4 SDCARD_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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# external I2C device2, pins shared with USART3, normally disabled
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# baro is BMP280 on SPI1
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PA1 BMP280_CS CS
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# mag is on I2C if connected
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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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PC5 RSSI_ADC ADC1
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# setup two IMUs
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IMU Invensense SPI:mpu6000 ROTATION_NONE
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IMU Invensense SPI:mpu6500 ROTATION_YAW_90
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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# RC input using timer by default
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PA3 TIM9_CH2 TIM9 RCININT PULLDOWN
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# alternative RC input using USART2
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PA3 USART2_RX USART2 NODMA ALT(1)
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# USART3, enabled as ALT config in place of I2C
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PB10 USART3_TX USART3 ALT(2)
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PB11 USART3_RX USART3 ALT(2)
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# USART6
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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# UART7 (V2 version, ESC telem)
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PE7 UART7_RX UART7
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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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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53)
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DMA_PRIORITY ADC* USART6* TIM1_CH1 TIM3_CH4 TIM1_UP TIM3_UP SPI4* SPI1*
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# spi devices
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SPIDEV bmp280 SPI1 DEVID1 BMP280_CS MODE3 1*MHZ 8*MHZ
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SPIDEV mpu6000 SPI1 DEVID2 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV mpu6500 SPI3 DEVID1 MPU6500_CS MODE3 1*MHZ 4*MHZ
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SPIDEV sdcard SPI4 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
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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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# 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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# disable SMBUS and fuel battery monitors to save flash
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define HAL_BATTMON_SMBUS_ENABLE 0
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define HAL_BATTMON_FUEL_ENABLE 0
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# disable parachute and sprayer to save flash
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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# one baro
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BARO BMP280 SPI:bmp280
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define OSD_ENABLED 1
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define OSD_PARAM_ENABLED 0
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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