mirror of https://github.com/ArduPilot/ardupilot
91 lines
1.8 KiB
Plaintext
91 lines
1.8 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for the CBUnmanned H743 Stamp 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 AP_HW_CBU_StampH743
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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 UART1 UART2
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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 IMU2_CS CS
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PI4 IMU3_CS CS
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PE4 SP4_CS1 CS
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PA3 USART2_RX USART2
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PD5 USART2_TX USART2
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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PE3 LED_ACTIVITY OUTPUT HIGH
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define HAL_LED_ON 1
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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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PI11 IMU1_PWR_EN OUTPUT HIGH
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PF4 IMU2_PWR_EN OUTPUT HIGH
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PE7 IMU3_PWR_EN OUTPUT HIGH
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PG8 MAG_PWR_EN OUTPUT HIGH
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PG15 Ethernet_PWR_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* 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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