mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: FoxeerH743 hwdef
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Andy Piper
Andrew Tridgell
parent
5b7f961cda
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# hw definition file for processing by chibios_hwdef.py
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# for FOXEERH743V1 hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1089
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 2048
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# bootloader starts 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 384
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# Chip select pins
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PA15 FLASH1_CS CS
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PA4 OSD1_CS CS
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PB12 GYRO1_CS CS
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PA8 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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@ -0,0 +1,162 @@
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# hw definition file for processing by chibios_hwdef.py
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# for FOXEERH743V1 hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1089
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 2048
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 384
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# SPI devices
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# SPI1
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI2
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI3
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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# Chip select pins
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PA15 FLASH1_CS CS
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PA4 OSD1_CS CS
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PB12 GYRO1_CS CS
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# Beeper
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PD2 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# SERIAL ports
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7 UART8
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
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# USART2 (VTX)
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA
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define HAL_SERIAL2_PROTOCOL SerialProtocol_SmartAudio
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# USART3 (GPS)
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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define HAL_SERIAL3_PROTOCOL SerialProtocol_GPS
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# UART4 (DJI)
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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define HAL_SERIAL4_PROTOCOL SerialProtocol_DJI_FPV
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# UART7 (DJI)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# UART8 (ESC)
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PE0 UART8_RX UART8 NODMA
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PE1 UART8_TX UART8 NODMA
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define HAL_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
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define HAL_SERIAL8_BAUD 115
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# I2C ports
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I2C_ORDER I2C1
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# I2C1
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# Servos
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PE5 SERVO1 OUTPUT GPIO(70) LOW
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define RELAY2_PIN_DEFAULT 70
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PE6 SERVO2 OUTPUT GPIO(71) LOW
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define RELAY3_PIN_DEFAULT 71
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PB3 CAMERA1 OUTPUT GPIO(72) LOW
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define RELAY4_PIN_DEFAULT 72
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# ADC ports
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# ADC1
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_CURR_SCALE 35.4
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_VOLT_SCALE 11.0
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 8
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define HAL_BATT_MONITOR_DEFAULT 4
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# MOTORS
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PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # M1
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PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51) # M2
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) BIDIR # M3
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) # M4
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR # M5
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR # M7
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) # M8
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# LEDs
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
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PC13 LED0 OUTPUT LOW GPIO(90)
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# Dataflash setup
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SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# OSD setup
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SPIDEV osd SPI1 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# Barometer setup
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BARO DPS280 I2C:0:0x76
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# IMU setup
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# IMU setup
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SPIDEV imu1 SPI2 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
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IMU Invensense SPI:imu1 ROTATION_YAW_270
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DMA_NOSHARE TIM3_UP TIM4_UP TIM8_UP SPI2*
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DMA_PRIORITY TIM3_UP TIM4_UP TIM8_UP SPI2*
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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