mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
185 lines
3.9 KiB
Plaintext
185 lines
3.9 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for the X-MAV-AP-H743V2 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 AP_HW_X-MAV-AP-H743V2
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# crystal frequency
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OSCILLATOR_HZ 8000000
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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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# flash size
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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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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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 UART4 USART1 USART6 UART8 USART3 UART5 UART7
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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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PE15 VBUS INPUT OPENDRAIN
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# Serial1
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# Serial2
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PB9 UART4_TX UART4
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PB8 UART4_RX UART4
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# GPS1/Serial3
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# Serial4
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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# Serial5
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# DJI O3/Serial6
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# RC_INPUT/Serial7
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PB13 UART5_TX UART5
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PB12 UART5_RX UART5
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PD14 SBUS_INV OUTPUT LOW
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# ESC/Serial8
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PE7 UART7_RX UART7
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# SWD
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CAN
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# two I2C bus
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I2C_ORDER I2C1 I2C4
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# I2C1 - baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C4 - CONNECTOR
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PD12 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# PWM output pins
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PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
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PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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PB1 TIM3_CH4 TIM3 PWM(5) GPIO(54) BIDIR
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PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55)
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PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR
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PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
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# GPIOs
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PA4 PINIO1 OUTPUT GPIO(81) LOW
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PC1 PINIO2 OUTPUT GPIO(82) LOW
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PC0 PINIO3 OUTPUT GPIO(83) LOW
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# LEDs
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PD15 LED_RED OUTPUT HIGH GPIO(90)
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PD11 LED_GREEN OUTPUT HIGH GPIO(91)
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PB15 LED_BLUE OUTPUT HIGH GPIO(92)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
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define HAL_GPIO_LED_ON 1
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# ADC for Power
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PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC5 BATT_CURRENT_SENS ADC2 SCALE(1)
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#BATTERY MONITOR ON
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define BATT_MONITOR 4
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define HAL_BATT_VOLT_PIN 4
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define HAL_BATT_CURR_PIN 8
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define HAL_BATT_VOLT_SCALE 10.2
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define HAL_BATT_CURR_SCALE 20.4
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# microSD support
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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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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define FATFS_HAL_DEVICE SDCD1
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# SPI1 - IMU0
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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 BMI088_1_G_CS CS
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PA2 BMI088_1_A_CS CS
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# SPI3 - CONNECTOR
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB2 SPI3_MOSI SPI3
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PA15 AT7456E_CS CS
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# SPI4 - IMU1
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PE6 SPI4_MOSI SPI4
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PC13 ICM42688P_CS CS
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# barometers
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BARO DPS310 I2C:0:0x76
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# SPI devices
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SPIDEV imu0_a SPI1 DEVID1 BMI088_1_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV imu0_g SPI1 DEVID2 BMI088_1_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV imu1 SPI4 DEVID3 ICM42688P_CS MODE3 10*MHZ 10*MHZ
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SPIDEV osd SPI3 DEVID5 AT7456E_CS MODE0 10*MHZ 10*MHZ
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# 2 IMUs
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IMU BMI088 SPI:imu0_a SPI:imu0_g ROTATION_ROLL_180_YAW_90
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IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180
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# compasses
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define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_NONE
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COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_90
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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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#Serial Port defaults
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 5
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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