mirror of https://github.com/ArduPilot/ardupilot
166 lines
3.7 KiB
Plaintext
166 lines
3.7 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for SPEEDYBEEF405V4 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 STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 1136
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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 1024
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 48
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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STM32_ST_USE_TIMER 5
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# SPI devices
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# SPI1
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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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# SPI2
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PB13 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# SPI3
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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# Chip select pins
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PC14 SDCARD1_CS CS
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PB12 OSD1_CS CS
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PA4 GYRO1_CS CS
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# Beeper
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PC15 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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# SERIAL ports
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
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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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# USART1 (DJI / VTX)
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PA10 USART1_RX USART1 NODMA
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PA9 USART1_TX USART1 NODMA
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV
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# USART2 (RCIN)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
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# USART3 (CAM)
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PC10 USART3_TX USART3 NODMA
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PC11 USART3_RX USART3 NODMA
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# UART4 (Bluetooth)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
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# UART5 (ESC Telemetry)
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PD2 UART5_RX UART5 NODMA
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
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define DEFAULT_SERIAL5_BAUD 19200
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# USART6 (GPS)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
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define DEFAULT_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD
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# I2C ports
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I2C_ORDER I2C1
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# I2C1
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# Servos
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PB14 CAMERA1 OUTPUT GPIO(70) LOW
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define RELAY2_PIN_DEFAULT 70
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# ADC ports
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# ADC1
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_VOLT_SCALE 11.0
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_CURR_SCALE 25.0
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 15
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define HAL_BATT_MONITOR_DEFAULT 4
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# MOTORS
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PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50) # M1
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PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) # M3
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4
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PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # M5
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PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) # M6
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PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) # M7
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PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) # M8
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# LEDs
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
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define AP_NOTIFY_GPIO_LED_1_ENABLED 1
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PC13 LED0 OUTPUT LOW GPIO(90)
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define AP_NOTIFY_GPIO_LED_1_PIN 90
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# OSD setup
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SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
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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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# Barometer setup
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_SPL06_ENABLED 1
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BARO SPL06 I2C:0:0x76
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# IMU setup
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SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
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# SDCard
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SPIDEV sdcard SPI3 DEVID1 SDCARD1_CS MODE0 400*KHZ 25*MHZ
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IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_270
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DMA_NOSHARE TIM3_UP TIM8_UP TIM2_UP SPI1*
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DMA_PRIORITY TIM3_UP TIM8_UP TIM2_UP SPI1*
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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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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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# filesystem setup on sdcard
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define HAL_OS_FATFS_IO 1
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# minimal drivers to reduce flash usage
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include ../include/minimize_fpv_osd.inc
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define DEFAULT_NTF_LED_TYPES 257
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