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https://github.com/ArduPilot/ardupilot
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AP_HAL_ChibiOS: correct and compact Pixhawk4-bdshot build
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
f60b5beed2
commit
e705f78b5e
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include ../Pixhawk4/hwdef-bl.dat
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# hw definition file for processing by chibios_hwdef.py
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# for Holybro Pixhawk4 hardware.
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include ../fmuv5-bdshot/hwdef.dat
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include ../Pixhawk4/hwdef.dat
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# setup for supplied power brick
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undef HAL_BATT_VOLT_SCALE
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define HAL_BATT_VOLT_SCALE 18.182
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undef HAL_BATT_CURR_SCALE
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define HAL_BATT_CURR_SCALE 36.364
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undef PA10 PE11
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# This gives bi-dir dshot on the first four channels and regular dshot on the next two
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PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
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DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM*
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# hw definition file for processing by chibios_hwdef.py
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# for FMUv5 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4)
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# MCU class and specific type. It is a F765, which is the same as F767
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# but without the TFT interface
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MCU STM32F7xx STM32F767xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
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define HAL_CHIBIOS_ARCH_FMUV5 1
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# board ID for firmware load
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APJ_BOARD_ID 50
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FLASH_RESERVE_START_KB 32
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 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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# 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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# SPI1 - internal sensors
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PG11 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2 - FRAM
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PI1 SPI2_SCK SPI2
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PI2 SPI2_MISO SPI2
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PI3 SPI2_MOSI SPI2
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# SPI4 - sensors2
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PE2 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# SPI5 - external1 (disabled to save DMA channels)
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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 - external2 (disabled to save DMA channels)
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# PG13 SPI6_SCK SPI6
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# PG12 SPI6_MISO SPI6
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# PB5 SPI6_MOSI SPI6
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# sensor CS
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PF10 MS5611_CS CS
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PF2 ICM20689_CS CS SPEED_VERYLOW
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PF3 ICM20602_CS CS SPEED_VERYLOW
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PF4 BMI055_G_CS CS
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PG10 BMI055_A_CS CS
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PF5 FRAM_CS CS SPEED_VERYLOW
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# unusued CS pins
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PF11 SPARE_CS CS
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PH5 AUXMEM_CS CS
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PI4 EXTERNAL1_CS1 CS
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PI10 EXTERNAL1_CS2 CS
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PI11 EXTERNAL1_CS3 CS
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PI6 EXTERNAL2_CS1 CS
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PI7 EXTERNAL2_CS2 CS
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PI8 EXTERNAL2_CS3 CS
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# I2C buses
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C3 I2C1 I2C2 I2C4
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# enable pins
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PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
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# start peripheral power off, then enable after init
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# this prevents a problem with radios that use RTS for
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# bootloader hold
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PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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PG5 VDD_5V_RC_EN OUTPUT HIGH
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PG6 VDD_5V_WIFI_EN OUTPUT HIGH
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PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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# drdy pins
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PE7 DRDY8_NC INPUT
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PB4 DRDY1_ICM20689 INPUT
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PB14 DRDY2_BMI055_GYRO INPUT
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PB15 DRDY3_BMI055_ACC INPUT
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PC5 DRDY4_ICM20602 INPUT
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PC13 DRDY5_BMI055_GYRO INPUT
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PD10 DRDY6_BMI055_ACC INPUT
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PD15 DRDY7_EXTERNAL1 INPUT
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# Control of Spektrum power pin
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PE4 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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# UARTs
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# USART2 is telem1
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# USART1 is GPS1
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PB7 USART1_RX USART1 NODMA
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PB6 USART1_TX USART1 NODMA
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# USART3 is telem2
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# UART4 GPS2
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PD0 UART4_RX UART4 NODMA
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PD1 UART4_TX UART4 NODMA
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# USART6 is telem3
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PG9 USART6_RX USART6 NODMA
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# we leave PG14 as an input to prevent it acting as a pullup
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# on the IOMCU SBUS input
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# PG14 USART6_TX USART6 NODMA
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PG15 USART6_CTS USART6
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PG8 USART6_RTS USART6
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# UART7 is debug
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PF6 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# UART8 is for IOMCU
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# UART for IOMCU
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IOMCU_UART UART8
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# PWM AUX channels
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) NODMA
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) NODMA
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# we need to disable DMA on the last 2 FMU channels
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# as timer 12 doesn't have a TIMn_UP DMA option
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PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
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PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
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# PWM output for buzzer
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PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
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# analog in
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT2_CURRENT_SENS ADC1 SCALE(1)
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PC4 SPARE1_ADC1 ADC1 SCALE(1)
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PA4 SPARE2_ADC1 ADC1 SCALE(1)
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PB0 RSSI_IN ADC1 SCALE(1)
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#PC3 HW_REV_SENS ADC1 SCALE(1)
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#PC2 HW_VER_SENS ADC1 SCALE(1)
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PC0 VDD_5V_SENS ADC1 SCALE(2)
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PC1 SCALED_V3V3 ADC1 SCALE(2)
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# setup scaling defaults for PixHackV5 power brick
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define HAL_BATT_VOLT_SCALE 18.0
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define HAL_BATT_CURR_SCALE 24.0
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define HAL_BATT_VOLT_PIN 0
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define HAL_BATT_CURR_PIN 1
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define HAL_BATT2_VOLT_PIN 2
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define HAL_BATT2_CURR_PIN 3
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# CAN bus
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PI9 CAN1_RX CAN1
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PH13 CAN1_TX CAN1
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
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PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
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# GPIOs
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PA7 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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PG1 VDD_BRICK_nVALID INPUT PULLUP
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PG2 VDD_BRICK2_nVALID INPUT PULLUP
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PG3 VBUS_nVALID INPUT PULLUP
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PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH
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# capture pins
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PA5 FMU_CAP1 INPUT GPIO(58)
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PB3 FMU_CAP2 INPUT GPIO(59)
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PB11 FMU_CAP3 INPUT GPIO(60)
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PI0 FMU_SPARE_4 INPUT GPIO(61)
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# SPI devices
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SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ
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SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ
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SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# up to 3 IMUs
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IMU Invensense SPI:icm20689 ROTATION_NONE
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IMU Invensense SPI:icm20602 ROTATION_NONE
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# 3rd could be BMMI055 or BMI088
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IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
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IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# probe external I2C compasses plus some internal IST8310
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# we also probe some external IST8310 with a non-standard orientation
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
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COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90
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# one baro
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BARO MS56XX SPI:ms5611
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# microSD support
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PC8 SDMMC_D0 SDMMC1
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PC9 SDMMC_D1 SDMMC1
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PC10 SDMMC_D2 SDMMC1
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PC11 SDMMC_D3 SDMMC1
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PC12 SDMMC_CK SDMMC1
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PD2 SDMMC_CMD SDMMC1
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# red LED marked as B/E
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PB1 LED_RED OUTPUT OPENDRAIN GPIO(90)
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# green LED marked as PWR. We leave this solid on, but allow
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# for it to be controlled as a relay if needed
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PC6 LED_GREEN OUTPUT GPIO(91) LOW
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# blue LED marked as ACT
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PC7 LED_BLUE OUTPUT GPIO(92) HIGH
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# setup for BoardLED2
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_B_LED_PIN 92
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define HAL_GPIO_LED_ON 0
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# enable RAMTROM parameter storage
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define HAL_STORAGE_SIZE 16384
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define HAL_WITH_RAMTRON 1
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM*
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# define HAL_SPI_CHECK_CLOCK_FREQ 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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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
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# uncomment block below to enable a 2nd MS5611 baro on SPI5
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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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#SPIDEV ms5611_spi5 SPI5 DEVID1 EXTERNAL1_CS1 MODE3 20*MHZ 20*MHZ
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#undef PI10
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#PI10 EXTERNAL1_CS2 OUTPUT LOW
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#BARO MS56XX SPI:ms5611_spi5
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