mirror of https://github.com/ArduPilot/ardupilot
173 lines
4.0 KiB
Plaintext
Executable File
173 lines
4.0 KiB
Plaintext
Executable File
# hw definition file for processing by chibios_hwdef.py
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# for F4BY v2.1.5 board description http://swift-flyer.com/?page_id=83
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# MCU class and specific type
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MCU STM32F4xx STM32F407xx
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# board ID for firmware load
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APJ_BOARD_ID 20
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# USB setup
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USB_VENDOR 0x27AC # Swift-Flyer
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USB_PRODUCT 0x0201 # fmu usb driver
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USB_STRING_MANUFACTURER "Swift-Flyer"
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USB_STRING_PRODUCT "%BOARD%"
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USB_STRING_SERIAL "%SERIAL%"
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FLASH_SIZE_KB 1024
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# this is the STM32 timer that ChibiOS will use for the low level
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# driver. This must be a 32 bit timer. We currently only support
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# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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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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# the normal usage of this ordering is:
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# 1) SERIAL0: console (primary mavlink, usually USB)
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# 2) SERIAL3: primary GPS
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# 3) SERIAL1: telem1
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# 4) SERIAL2: telem2
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# 5) SERIAL4: GPS2
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# 6) SERIAL5: extra UART (usually RTOS debug console)
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# use UART for stdout, so no STDOUT_SERIAL
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#STDOUT_SERIAL SD5
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#STDOUT_BAUDRATE 57600
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# this is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN
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PA9 VBUS INPUT OPENDRAIN
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SERIAL_ORDER OTG1 USART2 USART1 USART3 UART5
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# UART1 as board 2.1.5 for serial 3 gps
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# USART2 serial2 telem2
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2
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# USART3 serial3 telem1
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3
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PC10 UART4_TX UART4 NODMA
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PC11 UART4_RX UART4
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# SHARE dma with I2C2_TX
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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define HAL_STORAGE_SIZE 16384
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#SPI1 for MPU
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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 MPU_CS CS
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# spi bus for dataflash AND SD
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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 FRAM_CS CS SPEED_VERYLOW
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PE15 FLASH_CS CS
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SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ
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SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 25*MHZ
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_NONE
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# one baro, check both addresses
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BARO MS56XX I2C:0:0x76
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BARO MS56XX I2C:0:0x77
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# enable FAT filesystem support
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define HAL_OS_FATFS_IO 1
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# now some defines for logging and terrain data files
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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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# this defines the default maximum clock on I2C devices.
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define HAL_I2C_MAX_CLOCK 100000
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I2C_ORDER I2C2 I2C1
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# look for I2C compass
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COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# PWM out pins
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
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PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
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PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
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PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
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PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58)
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PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59)
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PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60)
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PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61)
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# also USART6_RX for serial RC
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PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0
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# LED setup is similar to PixRacer
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define HAL_HAVE_PIXRACER_LED
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PE3 LED_RED OUTPUT GPIO(10)
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PE2 LED_GREEN OUTPUT GPIO(11)
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PE1 LED_BLUE OUTPUT GPIO(12)
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PE0 LED_YELOW OUTPUT GPIO(13)
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define HAL_GPIO_A_LED_PIN 10
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define HAL_GPIO_B_LED_PIN 11
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define HAL_GPIO_C_LED_PIN 12
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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PC0 PRESSURE_SENS ADC1 SCALE(1)
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PC1 RSSI_IN ADC1
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PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
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PC4 VDD_5V_SENS ADC1 SCALE(2)
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PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2)
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PE5 TIM9_CH1 TIM9 ALARM
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PC14 EXTERN_GPIO1 GPIO(1)
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PC13 EXTERN_GPIO2 GPIO(2)
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PE4 EXTERN_GPIO3 GPIO(3)
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PE6 EXTERN_GPIO4 GPIO(4)
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PC9 EXTERN_GPIO5 GPIO(5)
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# IRQ for MPU6000
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PB0 EXTI_MPU6000 INPUT PULLUP
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PB1 DRDY_HMC5883 INPUT PULLUP
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define AP_FEATURE_BRD_PWM_COUNT_PARAM 1
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define BOARD_PWM_COUNT_DEFAULT 12
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