2023-01-19 20:18:28 -04:00
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# hw definition file for processing by chibios_hwdef.py
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# for H757
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# MCU class and specific type
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MCU STM32H7xx STM32H757xx
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define CORE_CM7
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define SMPS_PWR
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1070
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 128
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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define HAL_LED_ON 0
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# supports upto 8MBits/s
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CANFD_SUPPORTED 8
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# use last 2 pages for flash storage
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# H757 has 16 pages of 128k each
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STORAGE_FLASH_PAGE 14
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define HAL_STORAGE_SIZE 32768
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# ADC setup
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PF11 FMU_SERVORAIL_VCC_SENS ADC1
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PA6 RSSI_IN ADC1 SCALE(2)
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# CAN config
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PB14 GPIOCAN2_TERM OUTPUT HIGH
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PA12 CAN1_TX CAN1
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PB8 CAN1_RX CAN1
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PB6 CAN2_TX CAN2
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PB5 CAN2_RX CAN2
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# SPI2
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PB12 ICM_CS CS
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PC1 SPI2_MOSI SPI2
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PC2 SPI2_MISO SPI2
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PB13 SPI2_SCK SPI2
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# SPI4
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PE4 BARO_CS CS
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PE6 SPI4_MOSI SPI4
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PE5 SPI4_MISO SPI4
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PE2 SPI4_SCK SPI4
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# Sensors
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SPIDEV icm42688 SPI2 DEVID1 ICM_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ms5611 SPI4 DEVID2 BARO_CS MODE3 20*MHZ 20*MHZ
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BARO MS56XX SPI:ms5611
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2024-03-04 02:21:28 -04:00
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
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2023-01-19 20:18:28 -04:00
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CHECK_ICM42688 spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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2023-11-17 02:05:27 -04:00
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CHECK_ICM45686 spi_check_register("icm42688", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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2023-01-19 20:18:28 -04:00
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CHECK_MS5611 check_ms5611("ms5611")
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2023-11-17 02:05:27 -04:00
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CHECK_IMU0_PRESENT $CHECK_ICM42688 || $CHECK_ICM45686
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2023-01-19 20:18:28 -04:00
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CHECK_BARO0_PRESENT $CHECK_MS5611
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BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT
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define HAL_CHIBIOS_ARCH_FMUV3 1
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define BOARD_TYPE_DEFAULT 3
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# RCIN
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PC8 TIM8_CH3 TIM8 RCININT PULLDOWN
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# SWD
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# GPIO
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PD10 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
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PE15 VDD_BRICK_nVALID INPUT PULLUP
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PG0 VDD_BRICK2_nVALID INPUT PULLUP
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PG5 VDD_SERVO_FAULT INPUT PULLUP
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PG1 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
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# Control of Spektrum power pin
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PB2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
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define HAL_GPIO_SPEKTRUM_PWR 73
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# Spektrum Power is Active High
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define HAL_SPEKTRUM_PWR_ENABLED 1
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# Timer
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PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
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PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51)
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PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
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PA11 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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PA5 TIM2_CH1 TIM2 PWM(5) GPIO(54) BIDIR
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PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55)
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PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR
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PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
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# Correctly set Direction of PWMs
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# if UNIDIR is set then BIDIR must be reset
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PB0 BIDIR_ENABLED OUTPUT LOW GPIO(4)
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PA7 HP_UNIDIR_ENABLED OUTPUT HIGH GPIO(5)
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# UART connected to FMU, uses DMA
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PE7 UART7_RX UART7 SPEED_HIGH
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PE8 UART7_TX UART7 SPEED_HIGH
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# UART for SBUS out
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PC7 USART6_RX USART6 SPEED_HIGH LOW
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PC6 USART6_TX USART6
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# UART for DSM input
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# TX side is for IO debug, and is unused
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PC10 USART3_TX USART3 SPEED_HIGH
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PC11 USART3_RX USART3 SPEED_HIGH
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# UART for debug
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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# UART for RCIN
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PD1 UART4_TX UART4
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# USART for future use
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PD5 USART2_TX USART2 SPEED_HIGH
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PD6 USART2_RX USART2 SPEED_HIGH
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PD4 USART2_RTS USART2 SPEED_HIGH
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PD3 USART2_CTS USART2 SPEED_HIGH
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# order of UARTs
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SERIAL_ORDER UART7 UART8 USART3 USART6 UART4 USART2
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# use 2 MBaud when talking to primary controller
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2023-05-03 21:30:51 -03:00
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define DEFAULT_SERIAL0_BAUD 2000000
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Sbus1
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN
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2023-01-19 20:18:28 -04:00
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# only use pulse input for PPM, other protocols
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# are on serial
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define HAL_RCIN_PULSE_PPM_ONLY
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define MAV_SYSTEM_ID 3
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