mirror of https://github.com/ArduPilot/ardupilot
185 lines
3.8 KiB
Plaintext
185 lines
3.8 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for FrSky R9Pilot
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# MCU class and specific type
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MCU STM32F7xx STM32F767xx
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# board ID for firmware load
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APJ_BOARD_ID 1008
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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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# leave 2 sectors free
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FLASH_RESERVE_START_KB 96
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# one I2C bus (I2C2 can be used with loss of USART3)
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I2C_ORDER I2C3
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 USART1 UART5 USART6 UART7 UART8
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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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PC4 VBUS INPUT OPENDRAIN
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for baro
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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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PA4 BARO_CS CS
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PA1 BARO_CS2 CS
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# SPI2 external (gyro box, 7 pin ribbon cable)
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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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PB12 EXT_CS CS
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# SPI3 for on-board IMU
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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PA15 IMU_CS CS
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PE8 MPU3_INT INPUT
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# SPI4 for microSD
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PE4 SDCARD_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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# I2C3
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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# I2C2 (if not USART3)
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# PB10 I2C2_SCL I2C2
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# PB11 I2C2_SDA I2C2
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# USART1 for GPS
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 for telem1
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 for telem2
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PB11 USART3_RX USART3
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PB10 USART3_TX USART3
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# UART5 spare uart
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PB5 UART5_RX UART5
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PB6 UART5_TX UART5
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# USART6, Pixel OSD
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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# UART7, used for SBUS input
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PB3 UART7_RX UART7
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PB4 UART7_TX UART7
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# alternatively use UART7 RX for RCInput using timer
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PB3 TIM2_CH2 TIM2 RCININT PULLDOWN LOW ALT(1)
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# UART8, marked "RX RFD", connected to RXSR receiver via
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# 7-pin ribbon cable
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PE1 UART8_TX UART8 NODMA
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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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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# analog RSSI
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 15
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# analog pitot option (not on prototype boards)
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PC0 PRESSURE_SENS ADC1 SCALE(2)
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define HAL_DEFAULT_AIRSPEED_PIN 10
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PE0 LED0 OUTPUT LOW GPIO(90) # blue
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PA3 LED1 OUTPUT LOW GPIO(91) # green
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define HAL_GPIO_A_LED_PIN 91
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define HAL_GPIO_B_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# PWM outputs
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)
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PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53)
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PE14 TIM1_CH4 TIM1 PWM(5) GPIO(54)
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PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55)
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PB8 TIM4_CH3 TIM4 PWM(7) GPIO(56)
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PB9 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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# tonealarm support
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PA0 TIM5_CH1 TIM5 GPIO(32) ALARM
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# GPIOs
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PE3 SD_DETECT INPUT
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# switch1
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PC8 SW1 GPIO(70)
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DMA_PRIORITY SPI* ADC*
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# spi devices
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SPIDEV icm20602 SPI3 DEVID1 IMU_CS MODE3 1*MHZ 8*MHZ
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SPIDEV spl06 SPI1 DEVID1 BARO_CS MODE3 1*MHZ 1*MHZ
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SPIDEV imu2 SPI2 DEVID1 EXT_CS MODE3 1*MHZ 8*MHZ
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SPIDEV sdcard SPI4 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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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_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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# one main IMU
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IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90
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# optional 2nd IMU, support any invensense part, board
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# may come with a ICM20601 IMU in a plastic case, called
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# "gyro box"
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IMU Invensense SPI:imu2 ROTATION_YAW_90
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# also support newer Invensense IMUs
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IMU Invensensev2 SPI:imu2 ROTATION_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# one BARO, multiple possible choices for different
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# board varients
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BARO SPL06 SPI:spl06
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# dummy for testing
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# BARO Dummy
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# FAT filesystem on microSD
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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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define BOARD_PWM_COUNT_DEFAULT 8
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