mirror of https://github.com/ArduPilot/ardupilot
163 lines
3.4 KiB
Plaintext
163 lines
3.4 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteH7 hardware.
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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 1048
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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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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# leave 1 sectors free
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FLASH_RESERVE_START_KB 128
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# use last 2 pages for flash storage
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# H743 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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# one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7
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# buzzer
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PC13 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
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define HAL_BUZZER_PIN 80
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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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# SPI1 for SDCard
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PA4 SDCARD_CS CS
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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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PA3 SDCARD_DETECT INPUT
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# SPI2 for MAX7456 OSD
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PB12 MAX7456_CS CS
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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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# SPI4 for mpu6000
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PE4 mpu6000_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# I2C1 for baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA8 VBUS INPUT
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# define default battery setup (note external current sensor required)
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11.0
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define HAL_BATT_CURR_SCALE 59.5
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 8
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PC2 LED0 OUTPUT LOW
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# USART1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2 NODMA
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# USART3 (GPS)
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PD8 USART3_TX USART3
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PD9 USART3_RX 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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# RC input defaults to timer capture
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN
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# alternative config using USART for protocols
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# like FPort
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PC7 USART6_RX USART6 NODMA ALT(1)
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PC6 USART6_TX USART6 NODMA
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# UART7 USED BY ESC FROM ORIGINAL DESIGN
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# Motors
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PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
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PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
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PB3 TIM2_CH2 TIM2 PWM(3) GPIO(52)
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PB10 TIM2_CH3 TIM2 PWM(4) GPIO(53)
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)
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PA2 TIM5_CH3 TIM5 PWM(6) GPIO(55)
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
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# LED strip
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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DMA_PRIORITY TIM1* TIM2* TIM5* TIM3* SPI4* SPI1*
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DMA_NOSHARE SPI1*
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# spi devices
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SPIDEV mpu6000 SPI4 DEVID1 mpu6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm42688 SPI4 DEVID1 mpu6000_CS MODE3 1*MHZ 16*MHZ
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SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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# bluetooth power switch, turn it off to prevent rf interference
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PE13 EVENT_OUT OUTPUT LOW PUSHPULL GPIO(82)
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define RELAY3_PIN_DEFAULT 82
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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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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270
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# one BARO
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BARO BMP280 I2C:0:0x76
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define HAL_OS_FATFS_IO 1
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# setup for OSD
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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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define STM32_PWM_USE_ADVANCED TRUE
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define DEFAULT_NTF_LED_TYPES 257
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