2023-02-09 02:24:51 -04:00
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# hw definition file for processing by chibios_hwdef.py for rFCU
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# internal use only board
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AUTOBUILD_TARGETS None
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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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 1102
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART6 USART1 UART4 UART8 UART7 OTG2
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# now we define the pins that USB is connected on
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 - internal sensors
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PG11 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2 - FRAM
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PI1 SPI2_SCK SPI2
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PI2 SPI2_MISO SPI2
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PI3 SPI2_MOSI SPI2
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# SPI4 - sensors2
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PE2 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# SPI5 - external1
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PF7 SPI5_SCK SPI5
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PF8 SPI5_MISO SPI5
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PF9 SPI5_MOSI SPI5
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# SPI6 - external2
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PA7 SPI6_MOSI SPI6
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# sensor CS pins
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PF10 ADIS16470_CS CS
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PF3 ICM42688_SPI4_CS CS
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PG10 MS5611_SPI4_CS CS
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PF5 FRAM_CS CS SPEED_VERYLOW
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PF2 RM3100_CS CS
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PI4 EXT1_CS1 CS
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PI10 EXT1_CS2 CS
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PI12 ICM42688_SPI6_CS CS
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PI8 MS5611_SPI6_CS CS
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# I2C buses
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# I2C1 is on GPS port
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# I2C2 on GPS2 connector
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# I2C3 for onboard mag
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 is on BDMA on DMAMUX2
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C3 I2C1 I2C2 I2C4
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define HAL_I2C_INTERNAL_MASK 0
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# enable pins
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PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
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# start peripheral power off, then enable after init
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# this prevents a problem with radios that use RTS for
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# bootloader hold
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PD11 VDD_5V_HIPOWER_EN OUTPUT LOW
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PB0 VDD_5V_PERIPH_EN OUTPUT LOW
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PG5 VDD_5V_RC_EN OUTPUT HIGH
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PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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# drdy pins
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PE7 DRDY_ADIS16470 INPUT GPIO(93)
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PJ0 DRDY_ICM42688_SPI4 INPUT
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PH5 DRDY_ICM42688_SPI6 INPUT
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PE4 DRDY_RM3100 INPUT
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# use GPIO(93) for data ready on ADIS16470
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define ADIS_DRDY_PIN 93
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# UARTs
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# USART2 is telem1
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# USART1 is GPS1
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PB7 USART1_RX USART1 NODMA
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PB6 USART1_TX USART1 NODMA
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# UART4 GPS2
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PD0 UART4_RX UART4 NODMA
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PD1 UART4_TX UART4 NODMA
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# USART6 is telem2
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PG9 USART6_RX USART6
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PG14 USART6_TX USART6
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PG15 USART6_CTS USART6
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PG8 USART6_RTS USART6
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# UART7 is debug
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PF6 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# SBUS, DSM port
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# PWM AUX channels
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PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50)
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PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
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PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52)
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PI0 TIM5_CH4 TIM5 PWM(4) GPIO(53)
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
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PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56)
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
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PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
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PA10 TIM1_CH3 TIM1 PWM(11) GPIO(60)
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PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
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PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
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PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
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# allow for 14 PWMs by default
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# PWM output for buzzer
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PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
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# RC input, disabled, connected to same pin as UART8_RX, we prefer serial protocols
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# PB4 TIM3_CH1 TIM3 RCININT PULLDOWN LOW
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# analog in
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PF11 BATT2_CURRENT_SENS ADC1 SCALE(1)
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# ADC3.3/ADC6.6
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PC4 SPARE1_ADC1 ADC1 SCALE(1)
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PA4 SPARE2_ADC1 ADC1 SCALE(1)
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PF12 RSSI_IN ADC1 SCALE(1)
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PC5 VDD_5V_SENS ADC1 SCALE(2)
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PC1 SCALED_V3V3 ADC1 SCALE(2)
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# CAN bus
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PI9 CAN1_RX CAN1
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PH13 CAN1_TX CAN1
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# 2nd CAN bus. Cannot be used at same time as USB_HS
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# control for silent (no output) for CAN
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PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
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# GPIOs
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define HAL_HAVE_IMU_HEATER 1
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# use 2nd IMU for temperature reference. The ADIS has too much thermal
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# mass to control reasonably
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define AP_HEATER_IMU_INSTANCE 1
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# heaters require 2 GPIOs to go high to enable a single heater
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PA8 HEATER_EN OUTPUT LOW GPIO(80) # isolated IMU, GPIO1
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PF4 HEATER2_EN OUTPUT LOW GPIO(81) # isolated IMU, GPIO2
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PH15 HEATER3_EN OUTPUT LOW GPIO(82) # control board, GPIO1
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PB5 HEATER4_EN OUTPUT LOW GPIO(83) # control board, GPIO2
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HEATER2_GPIO_PIN 81
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define HAL_HEATER3_GPIO_PIN 82
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define HAL_HEATER4_GPIO_PIN 83
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# the heater impacts the RM3100 compass
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define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SPI,1,0x2,0x11),Vector3f(60,7,-11)}
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PG1 VDD_BRICK_nVALID INPUT PULLUP # for PowerA
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PG2 VDD_BRICK2_nVALID INPUT PULLUP # for PowerB
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PG0 VDD_BRICK3_nVALID INPUT PULLUP # for PowerC
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# MCU power validity monitoring
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PD10 MCU_VALID1 INPUT
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PJ5 MCU_VALID2 INPUT
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PA9 VBUS_VALID INPUT PULLUP
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PJ3 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PJ4 VDD_5V_PERIPH_nOC INPUT PULLUP
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# SPI devices
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SPIDEV adis16470 SPI1 DEVID1 ADIS16470_CS MODE3 1*MHZ 2*MHZ
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2024-04-10 02:36:18 -03:00
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SPIDEV rm3100 SPI1 DEVID2 RM3100_CS MODE3 1*MHZ 1*MHZ
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2023-02-09 02:24:51 -04:00
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV icm42688_1 SPI4 DEVID1 ICM42688_SPI4_CS MODE3 2*MHZ 16*MHZ
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SPIDEV ms5611_1 SPI4 DEVID2 MS5611_SPI4_CS MODE3 20*MHZ 20*MHZ
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SPIDEV bmp390_1 SPI4 DEVID2 MS5611_SPI4_CS MODE3 10*MHZ 10*MHZ
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SPIDEV icm42688_2 SPI6 DEVID1 ICM42688_SPI6_CS MODE3 2*MHZ 16*MHZ
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SPIDEV ms5611_2 SPI6 DEVID2 MS5611_SPI6_CS MODE3 20*MHZ 20*MHZ
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SPIDEV bmp390_2 SPI6 DEVID2 MS5611_SPI4_CS MODE3 10*MHZ 10*MHZ
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# two baro, could be either 2 MS5611 or 2 BMP390
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BARO MS56XX SPI:ms5611_1
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BARO MS56XX SPI:ms5611_2
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BARO BMP388 SPI:bmp390_1
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BARO BMP388 SPI:bmp390_2
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# three IMUs, one ADIS, 2x ICM42688
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IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180_YAW_90 ADIS_DRDY_PIN
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IMU Invensensev3 SPI:icm42688_1 ROTATION_ROLL_180_YAW_90
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IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS RM3100 SPI:rm3100 false ROTATION_ROLL_180_YAW_90
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# microSD support
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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PB2 SDCARD_DETECT INPUT
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# red LED marked as B/E
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PI5 LED_R1 OUTPUT HIGH GPIO(0) # red
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PI6 LED_G1 OUTPUT LOW GPIO(1) # green
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PI7 LED_B1 OUTPUT HIGH GPIO(2) # blue
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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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2023-02-09 02:24:51 -04:00
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define HAL_GPIO_LED_ON 1
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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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2023-02-09 02:24:51 -04:00
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# enable RAMTROM parameter storage
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define HAL_STORAGE_SIZE 32768
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define HAL_WITH_RAMTRON 1
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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PE12 LED_SAFETY OUTPUT
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PE10 SAFETY_IN INPUT PULLDOWN
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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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DMA_PRIORITY ADC* SPI1* TIM*UP*
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DMA_NOSHARE SPI1* TIM*UP*
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# default to 45C target temp
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define HAL_IMU_TEMP_DEFAULT 45
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