mirror of https://github.com/ArduPilot/ardupilot
195 lines
4.2 KiB
Plaintext
195 lines
4.2 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for SP/Racing Extreme H7 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 STM32H750xx
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# board ID for firmware load
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APJ_BOARD_ID 1060
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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MCU_CLOCKRATE_MHZ 480
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env OPTIMIZE -O2
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define HAL_WITH_EKF_DOUBLE 0
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STM32_ST_USE_TIMER 2
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# internal flash is off limits
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FLASH_SIZE_KB 128
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FLASH_RESERVE_START_KB 0
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define HAL_FLASH_PROTECTION 1
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EXT_FLASH_SIZE_MB 16
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EXT_FLASH_RESERVE_START_KB 1024
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EXT_FLASH_RESERVE_END_KB 448
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# only 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 UART5 USART6 EMPTY UART8
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# Buzzer - DMA timer channel use by LEDs
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PD7 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# Debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI2 ICM20602 #2
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PB12 ICM20602_2_CS CS
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# SPI3 ICM20602 #1
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PA15 ICM20602_1_CS CS
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PD6 SPI3_MOSI SPI3
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# SPI4 for OSD
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PE11 AT7456E_CS CS
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE14 SPI4_MOSI SPI4
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# I2C1 for baro
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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# Internal current sensor
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
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# External current sensor
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PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1) # analog pin 8
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# VTX Power control - should be high at startup to ensure power
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PB01 VTX_PWR OUTPUT HIGH GPIO(81)
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define RELAY2_PIN_DEFAULT 81
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PC4 RSSI_IN ADC1
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define BOARD_RSSI_ANA_PIN 0
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# define default battery setup
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define HAL_BATT_VOLT_PIN 11
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define HAL_BATT_CURR_PIN 10
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define HAL_BATT_VOLT_SCALE 10.9
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define HAL_BATT_CURR_SCALE 28.5
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define HAL_BATT_MONITOR_DEFAULT 4
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# USART1 (RCIN)
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PB15 USART1_RX USART1
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PB14 USART1_TX USART1
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
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# USART2 (SmartPort)
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PD5 USART2_TX USART2
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# USART3
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART4
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PD0 UART4_RX UART4
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PD1 UART4_TX UART4
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# UART5
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PB5 UART5_RX UART5
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PB13 UART5_TX UART5
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# UART6
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PC7 USART6_RX USART6 ALT(1)
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PC6 USART6_TX USART6 ALT(1)
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# UART8
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# SD 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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# QuadSPI Flash
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PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
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PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
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PE2 QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
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PD13 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
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PB10 QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
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PB2 QUADSPI_CLK QUADSPI1 SPEED_HIGH
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# Motors
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PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1
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PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4
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PB6 TIM4_CH1 TIM4 PWM(5) GPIO(54) # M5
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PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
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PC6 TIM8_CH1 TIM8 PWM(7) GPIO(56) # M7
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PC7 TIM8_CH2 TIM8 PWM(8) GPIO(57) # M8
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # M10
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# Motor outputs on the stacking connector
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#PA6 TIM3_CH1 TIM3 PWM(1) GPIO(61) # M11
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#PA7 TIM3_CH2 TIM3 PWM(2) GPIO(62) # M12
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#PB0 TIM3_CH3 TIM3 PWM(3) GPIO(63) # M13
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#PB1 TIM3_CH4 TIM3 PWM(4) GPIO(64) # M14
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# NeoPixel LED strip
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PA8 TIM1_CH1 TIM1 PWM(11) GPIO(60)
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# Red LED
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PE3 LED0 OUTPUT LOW GPIO(90)
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# spi devices
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SPIDEV icm20602_1 SPI3 DEVID1 ICM20602_1_CS MODE3 2*MHZ 10*MHZ
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SPIDEV icm20602_2 SPI2 DEVID2 ICM20602_2_CS MODE3 2*MHZ 10*MHZ
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SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
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DMA_PRIORITY SPI3* SPI2* TIM5*
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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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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# two IMUs
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IMU Invensense SPI:icm20602_1 ROTATION_YAW_90
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IMU Invensense SPI:icm20602_2 ROTATION_YAW_135
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# one BARO
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BARO BMP388 I2C:0:0x76
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# setup for OSD
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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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define HAL_OS_FATFS_IO 1
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define BOARD_PWM_COUNT_DEFAULT 11
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define HAL_STORAGE_SIZE 16384
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define DEFAULT_NTF_LED_TYPES 257
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