mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: Added support for mRo ControlZero OEM H7 flight controller
This commit is contained in:
Phillip Kocmoud
Andrew Tridgell
parent
408f8b3940
commit
701ab83f01
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@ -603,6 +603,7 @@ is bob we will attempt to checkout bob-AVR'''
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"mRoControlZeroF7",
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"mRoNexus",
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"mRoPixracerPro",
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"mRoControlZeroOEMH7",
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"F35Lightning",
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"speedybeef4",
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"SuccexF4",
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@ -46,6 +46,8 @@ brand_map = {
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'Pixracer' : ('PixRacer', 'mRobotics'),
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'mRoX21' : ('mRo X2.1', 'mRobotics'),
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'mRoX21-777' : ('mRo X2.1-777', 'mRobotics'),
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'mRoPixracerPro' : ('mRo PixracerPro', 'mRobotics'),
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'mRoControlZeroOEMH7' : ('mRo ControlZero OEM H7', 'mRobotics'),
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'mRoNexus' : ('mRo Nexus', 'mRobotics'),
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'TBS-Colibri-F7' : ('Colibri F7', 'TBS'),
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'sparky2' : ('Sparky2', 'TauLabs'),
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@ -0,0 +1,62 @@
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###########################################################################################################################################################
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# mRo Control Zero OEM H7 Flight Controller
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# STM32H753IIK6
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# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
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# Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-F-DV 1.00 mm Surface Mount Micro Low Profile Terminal Strip
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# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
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# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
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# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 3x I2C
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# Onboard 3 color LED and buzzer
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# 20mm x 34mm / 3.66g
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# M10059C - Initial Release
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###########################################################################################################################################################
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# USB setup
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USB_STRING_MANUFACTURER "mRo"
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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 1024
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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 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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PB11 LED_BOOTLOADER OUTPUT
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# define all 3 to make LED output White.
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PB1 LED_ACTIVITY OUTPUT
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PB3 LED_ACTIVITY2 OUTPUT
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# PB11 LED_ACTIVITY3 OUTPUT
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define HAL_LED_ON 0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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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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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# Add CS pins to ensure they are high in bootloader
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PC2 ICM_20602_CS CS
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PD7 BARO_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW NODMA
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PE15 ICM_20948_CS CS
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PF6 BMI088_ACCEL_CS CS
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PF10 BMI088_GYRO_CS CS
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PG9 EXTERNAL CS
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@ -0,0 +1,281 @@
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###########################################################################################################################################################
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# mRo Control Zero OEM H7 Flight Controller
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# STM32H753IIK6
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# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic
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# Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-F-DV 1.00 mm Surface Mount Micro Low Profile Terminal Strip
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# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
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# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
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# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 3x I2C
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# Onboard 3 color LED and buzzer
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# 20mm x 34mm / 3.66g
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# M10059C - Initial Release
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###########################################################################################################################################################
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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 1024
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# crystal frequency
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OSCILLATOR_HZ 24000000
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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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# start on 2th sector (1st sector for bootloader)
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 16384
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# USB setup
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USB_STRING_MANUFACTURER "mRo"
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# RC Input set for Interrupt not DMA
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PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
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# GPIO(70) # also USART6_RX for serial RC
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# Control of Spektrum power pin
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PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
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define HAL_GPIO_SPEKTRUM_PWR 70
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# Spektrum Power is Active High
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define HAL_SPEKTRUM_PWR_ENABLED 0
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# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
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PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
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define HAL_GPIO_SPEKTRUM_RC 71
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# Order of I2C buses
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I2C_ORDER I2C1 I2C3 I2C4
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# this board only has a single I2C bus so make it external
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs and suggested uses
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# USART2 TELEM1
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# USART3 TELEM2
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# UART4 GPS
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# UART8 FRSKY Telem
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# UART7 DEBUG
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# OTG1 and OTG2 are USB devices (1x physical USB connection enumerated as 2x logical ports)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
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# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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# Another USART, this one for telem1. This one has RTS and CTS lines.
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# USART2 telem1
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
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# USART3 telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# UART4 GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# UART7
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PE8 UART7_TX UART7
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PE7 UART7_RX UART7
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# UART8 FrSky Telemetry (Single wire serial connects to the TX pin only)
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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# RSSI Analog Input
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PC1 RSSI_IN ADC1
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# Safety Switch Input
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PC4 SAFETY_IN INPUT PULLDOWN
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define HAL_HAVE_SAFETY_SWITCH 1
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# Battery Analog Sense Pins
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# PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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# PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# Now the VDD sense pin. This is used to sense primary board voltage.
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# PA4 VDD_5V_SENS ADC1 SCALE(2)
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# Battery Analog Sense Pins
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# Now the VDD sense pin. This is used to sense primary board voltage.
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# Now setup the default battery pins driver analog pins and default
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# scaling for the power brick.
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define HAL_BATT_VOLT_PIN 14
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define HAL_BATT_CURR_PIN 15
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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#SPI1 ICM_20602 / ICM_20948
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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 FRAM / DPS310
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PB10 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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#SPI5 BMI088
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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 External
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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# This is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN.
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PA9 VBUS INPUT OPENDRAIN
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# This input pin is used to detect that power is valid on USB.
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PC0 VBUS_VALID INPUT PULLDOWN
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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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# PWM output for buzzer
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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# First I2C bus.
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# Second I2C bus.
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# Third I2C bus.
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PB6 I2C4_SCL I2C4
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PB7 I2C4_SDA I2C4
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# microSD card
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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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# CS pins for SPI sensors. The labels for all CS pins need to
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# match the SPI device table later in this file.
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PC2 ICM_20602_CS CS
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PD7 BARO_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW NODMA
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PE15 ICM_20948_CS CS
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PF6 BMI088_ACCEL_CS CS
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PF10 BMI088_GYRO_CS CS
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PG9 EXTERNAL CS
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# CAN Busses
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PB13 CAN2_TX CAN2
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PB12 CAN2_RX CAN2
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# CAN Silent Pins LOW Enable
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PF5 GPIO_CAN_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
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# Now we start defining some PWM pins. We also map these pins to GPIO
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# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
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# outputs on the primary MCU are setup as PWM and how many as
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# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
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# starting at 50.
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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PI5 TIM8_CH1 TIM8 PWM(7) GPIO(56)
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PI6 TIM8_CH2 TIM8 PWM(8) GPIO(57)
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define BOARD_PWM_COUNT_DEFAULT 8
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# This is the invensense 20602 data-ready pin.
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PD15 MPU_DRDY INPUT
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# Power Supply Enable
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PE3 VDD_1V8_3V3_SENSORS_EN OUTPUT HIGH
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# Power Supply Enable 3.3v Periph/Spektrum
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PC5 VDD_3V3_PERIPH_EN OUTPUT HIGH
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# Power flag pins: these tell the MCU the status of the various power
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# supplies that are available. The pin names need to exactly match the
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# names used in AnalogIn.cpp.
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PB5 VDD_BRICK_VALID INPUT PULLDOWN
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SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
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# Now some defines for logging and terrain data files.
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# Enable RAMTROM parameter storage.
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define HAL_WITH_RAMTRON 1
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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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# Control Zero has a TriColor LED, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# LED setup for PixracerLED driver
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PB11 LED_R OUTPUT HIGH GPIO(0)
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PB1 LED_G OUTPUT HIGH GPIO(1)
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PB3 LED_B OUTPUT HIGH GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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# DMA_PRIORITY SDMMC*
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# 3 IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
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IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
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IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
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# 1 baro
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BARO DPS280 SPI:dps310
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# 1 compass
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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