ardupilot/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat

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# hw definition file for processing by chibios_pins.py
# for FLYWOO Goku GN F745.
# thanks to betaflight for pin information
# MCU class and specific type
MCU STM32F7xx STM32F745xx
# board ID for firmware load
APJ_BOARD_ID 1027
# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000
FLASH_SIZE_KB 1024
# bootloader takes first sector
FLASH_RESERVE_START_KB 96
# only one I2C bus
I2C_ORDER I2C1
# Buzzer - DMA timer channel use by LEDs
#PD15 TIM4_CH4 TIM4 GPIO(80) ALARM
PD15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
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# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# Debug
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# SPI1 for Flash Storage 16mb
PA4 FLASH_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# SPI2 for OSD
PB12 AT7456E_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
# SPI4 for MPU6000
PE4 MPU6000_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# I2C1 for baro
PB6 I2C1_SCL I2C1 PULLUP
PB7 I2C1_SDA I2C1 PULLUP
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
# define default battery setup
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 10.9
define HAL_BATT_CURR_SCALE 28.5
define HAL_BATT_MONITOR_DEFAULT 4
PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 15
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# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7
# USART1
PA10 USART1_RX USART1 NODMA
PA9 USART1_TX USART1
# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2 NODMA
# USART3
PB10 USART3_TX USART3
PB11 USART3_RX USART3
# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA
# UART5
PC12 UART5_TX UART5 NODMA
PD2 UART5_RX UART5 NODMA
# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6 NODMA
# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
# Motors
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # Motor 1
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # Motor 2
PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) # Motor 3
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR # Motor 4
PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) # Motor 5
PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # Motor 6
PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56) # Motor 7
PB5 TIM3_CH2 TIM3 PWM(8) GPIO(57) # Motor 8
# NeoPixel LED strip
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
PA2 LED0 OUTPUT LOW GPIO(90) # LED
# Misc Timer Stuff
PE13 TIM1_CH3 TIM1 PWM(10) GPIO(59) # PPM/Unused - for future use according to Flywoo
DMA_PRIORITY USART1* TIM1* TIM3*
DMA_NOSHARE SPI1_TX SPI1_RX TIM1_CH2 TIM3_CH3
define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1
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# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1
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# spi devices
SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ
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SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm42688 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 8*MHZ
SPIDEV bmi270 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 8*MHZ
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# no built-in compass, but probe the i2c bus for all possible
# external compass types
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define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
IMU BMI270 SPI:bmi270 ROTATION_PITCH_180
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
# one BARO
BARO BMP280 I2C:0:0x76
BARO SPL06 I2C:0:0x76
BARO DPS310 I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_SPL06_ENABLED 1
define AP_BARO_BMP280_ENABLED 1
define AP_BARO_DPS280_ENABLED 1
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# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
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# FFT option (disabled by default)
# define HAL_GYROFFT_ENABLED 1
# define AP_OAPATHPLANNER_ENABLED 0
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# save some flash
include ../include/minimize_fpv_osd.inc
include ../include/no_bootloader_DFU.inc
define DEFAULT_NTF_LED_TYPES 257