mirror of https://github.com/ArduPilot/ardupilot
172 lines
4.1 KiB
Plaintext
172 lines
4.1 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteF7 Mini 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 STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 145
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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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# leave 2 sectors free
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FLASH_RESERVE_START_KB 96
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7
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# buzzer
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PD15 TIM4_CH4 TIM4 GPIO(77) ALARM
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#PD15 BUZZER OUTPUT GPIO(80) LOW
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#define HAL_BUZZER_PIN 80
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#define HAL_BUZZER_ON 1
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#define HAL_BUZZER_OFF 0
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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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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for M25P16 dataflash
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PA4 FLASH_CS CS
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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 for MAX7456 OSD
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PB12 MAX7456_CS CS
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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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# SPI4 for ICM20689
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PE4 ICM20689_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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# I2C1 for baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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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 10.9
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define HAL_BATT_CURR_SCALE 28.5
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 15
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PA2 LED0 OUTPUT LOW
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# In order to accommodate bi-directional dshot certain devices cannot be DMA enabled
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# NODMA indicates these devices, if you remove it they will still not be resolved for DMA
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# USART1
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PA10 USART1_RX USART1 NODMA
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PA9 USART1_TX USART1 NODMA
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# USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (GPS)
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PB11 USART3_RX USART3
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PB10 USART3_TX USART3
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# UART4 (GPS2)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# RC input defaults to UART to allow for bi-dir dshot
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define HAL_SERIAL6_BAUD 115
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# UART7, RX only for ESC Telemetry
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# No DMA because SPI2 requires the DMA slot
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA LOW
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# Motors, bi-directional dshot capable
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PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) # M1
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PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) # M2 CH1 and CH2 can share ICU Channel for BIDIR
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR # M4
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) BIDIR # M3
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# These are not DMA enabled so not dshot capable
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# To get dshot (but not bi-dir dshot) remove the NODMA and add NODMA to USART6
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PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) NODMA # M5
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6
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# extra PWM outs
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#PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin
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#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer)
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DMA_PRIORITY ADC* USART6* TIM1* TIM3* SPI4* SPI1*
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DMA_NOSHARE SPI4_RX
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH
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# spi devices
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SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*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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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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# one BARO
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BARO BMP280 I2C:0:0x76
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# setup for OSD
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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/font0.bin
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define STM32_PWM_USE_ADVANCED TRUE
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# disable SMBUS and fuel battery monitors to save flash
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define HAL_BATTMON_SMBUS_ENABLE 0
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define HAL_BATTMON_FUEL_ENABLE 0
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# disable parachute and sprayer to save flash
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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# reduce max size of embedded params for apj_tool.py
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define AP_PARAM_MAX_EMBEDDED_PARAM 1024
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define HAL_MOUNT_ENABLED 0
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# save some flash
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define HAL_GENERATOR_ENABLED 0
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define AC_OAPATHPLANNER_ENABLED 0
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define PRECISION_LANDING 0
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