mirror of https://github.com/ArduPilot/ardupilot
107 lines
2.0 KiB
Plaintext
107 lines
2.0 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for the ZeroOneX6 hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID 5600
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB 128
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 UART5 USART3
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# Pin for PWM Voltage Selection
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PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
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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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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CS pins
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PI9 IMU1_CS CS
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PH5 ICM42688_CS CS
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PI4 BMI088_A_CS CS
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PI8 BMI088_G_CS CS
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PH15 BMM150_CS CS
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PG7 FRAM_CS CS
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PI10 EXT1_CS CS
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# telem1
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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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# telem2
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# debug uart
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# armed indication
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PE6 nARMED OUTPUT HIGH
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# start peripheral power off
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PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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# LEDs
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PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
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PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
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define HAL_LED_ON 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# enable DFU by default
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ENABLE_DFU_BOOT 1
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# support flashing from SD card:
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# power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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# FATFS support:
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define CH_CFG_USE_MEMCORE 1
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define CH_CFG_USE_HEAP 1
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define CH_CFG_USE_SEMAPHORES 0
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define CH_CFG_USE_MUTEXES 1
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define CH_CFG_USE_DYNAMIC 1
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define CH_CFG_USE_WAITEXIT 1
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define CH_CFG_USE_REGISTRY 1
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# microSD support
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
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