mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.7 KiB
Plaintext
73 lines
1.7 KiB
Plaintext
# KakuteH7 v2 with flash chip for logging
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include ../KakuteH7-bdshot/hwdef.dat
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undef sdcard
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undef mpu6000
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undef IMU
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undef HAL_OS_FATFS_IO
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undef PA3 PA0 PA2 PC8 PC9 PD8 PD9 PD0 PD1 PC6 PC7 PE7 PE8
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MCU_CLOCKRATE_MHZ 480
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# Holybro documentation:
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# UART6 - RX
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# UART1 - DJI RX
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# UART4 - GPS
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# UART3 - VTX
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# USART3 (VTX)
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3 NODMA
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# UART4 (GPS)
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PD0 UART4_RX UART4
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PD1 UART4_TX UART4
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# UART6 (RX)
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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# UART7 (ESC Telemetry)
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) BIDIR
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PA2 TIM5_CH3 TIM5 PWM(6) GPIO(55) BIDIR
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
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# VTX Power control - should be high at startup to ensure power
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PB11 VTX_PWR OUTPUT HIGH GPIO(81)
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define RELAY2_PIN_DEFAULT 81
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define HAL_BATT_MONITOR_DEFAULT 4
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# second battery sensor on second ESC connector
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PA1 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PC4 BATT2_CURRENT_SENS ADC1 SCALE(1)
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# second battery setup (note external current sensor required)
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define HAL_BATT2_VOLT_PIN 17
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define HAL_BATT2_CURR_PIN 4
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define HAL_BATT2_VOLT_SCALE 11.0
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define HAL_BATT2_CURR_SCALE 59.5
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define HAL_BATT2_MONITOR_DEFAULT 4
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SPIDEV dataflash SPI1 DEVID1 SDCARD_CS MODE3 104*MHZ 104*MHZ
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SPIDEV bmi270 SPI4 DEVID1 mpu6000_CS MODE3 1*MHZ 10*MHZ # Clock is 100Mhz so highest clock <= 10Mhz is 100Mhz/16
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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DMA_PRIORITY TIM3* TIM2* TIM5* TIM8* SPI4* SPI1*
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DMA_NOSHARE *UP SPI1*
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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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define HAL_LOGGING_DATAFLASH_ENABLED 1
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define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV
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define DEFAULT_NTF_LED_TYPES 257
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define AP_SCRIPTING_ENABLED 0
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