mirror of https://github.com/ArduPilot/ardupilot
153 lines
2.7 KiB
Plaintext
153 lines
2.7 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for H743 bootloader
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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FULL_FEATURED_BOOTLOADER 1
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# USB setup
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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USB_PRODUCT 0x5011
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USB_STRING_MANUFACTURER "CubePilot"
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1037
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 256
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PB15 LED_2 OUTPUT LOW
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PB14 LED OUTPUT LOW
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# board voltage
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STM32_VDD 330U
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7
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define HAL_NO_LOGGING TRUE
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define HAL_NO_MONITOR_THREAD
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# USART3 F9
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART7 F9
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7 NODMA
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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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define USB_USE_WAIT TRUE
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define HAL_USE_USB_MSD 1
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define HAL_DEVICE_THREAD_STACK 2048
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#define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define AP_PERIPH_HAVE_LED
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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# Add MAVLink
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env FORCE_MAVLINK_INCLUDE 1
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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#PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PF8 blank CS
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SPIDEV profiled SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
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PE4 MPU_EXT_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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PG15 spi6cs CS
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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PF7 SPI5_SCK SPI5
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PF9 SPI5_MOSI SPI5
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define BOARD_SER1_RTSCTS_DEFAULT 0
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#gps f9
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PD10 F91TXR INPUT
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PD11 F92RST INPUT
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PD13 F93SB INPUT
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PD14 F94EXTINT INPUT
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PD15 F95RSV1 INPUT
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PG2 F97 INPUT GPIO(100)
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PG3 F96RSV2 INPUT
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PD4 RTKSTAT INPUT
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PD5 GEOFENCESTAT INPUT
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#others
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PG10 can2int INPUT
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PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW
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PF1 GNDDET2 INPUT
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PF2 GNDDET1 INPUT
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PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
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#sensor enable
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PC0 SENSEN OUTPUT HIGH
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PB1 IMUINT INPUT
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PB3 QCAN2TERM OUTPUT LOW GPIO(4)
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PB4 QCAN2INT0 INPUT
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PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW
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PE0 QCAN1INT INPUT
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PE1 QCAN1INT0 INPUT
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PE3 QCAN1INT1 INPUT
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PD6 QCAN1TERM OUTPUT LOW GPIO(3)
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PD7 QCAN2INT1 INPUT
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PA8 QCAN12OSC1 INPUT
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# This input pin is used to detect that power is valid on USB.
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PA9 VBUS INPUT
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PH13 VDD_33V_SENS INPUT
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# This defines some input pins, currently unused.
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PB2 BOOT1 INPUT
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# passthrough CAN1
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define HAL_DEFAULT_CPORT 1
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define CAN_APP_NODE_NAME "com.cubepilot.herepro"
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FULL_CHIBIOS_BOOTLOADER 1
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