mirror of https://github.com/ArduPilot/ardupilot
176 lines
3.9 KiB
Plaintext
176 lines
3.9 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Matek F405-Wing, developed by David Ingraham
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# Board configuration borrowed from Inav F405SE target
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# There is currently an issue with UART Mapping. For now, reference the table below:
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#-----------------------------------------------------------------------------------
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# Serial1 - T3/R3
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# Serial2 - T4/R4
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# Serial3 - T1/R1
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# Serial4 - T5/R5
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# Serial5 - T6/R6
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#################################################
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### MCU CONFIGURATION ###
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#################################################
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_MATEKF405WING
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# board ID for firmware load
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APJ_BOARD_ID 127
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_PLLM_VALUE 8
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 1024
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define HAL_STORAGE_SIZE 15360
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define STORAGE_FLASH_PAGE 1
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# board voltage
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STM32_VDD 330U
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# I2C Buses
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I2C_ORDER I2C1 I2C2
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# order of UARTs
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UART_ORDER OTG1 USART1 USART3 UART4 UART5 USART6
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#################################################
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### PIN DEFINITIONS ###
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#################################################
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# USART 2 is used for RC Input
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# PA2 USART2_TX USART2
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# PA3 USART2_RX USART2
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PA3 TIM2_CH4 TIM2 RCININT FLOAT LOW
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PA4 MPU_CS CS
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# IMU SPI
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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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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA14 LED_BLUE OUTPUT LOW GPIO(0)
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PA13 LED_GREEN OUTPUT LOW GPIO(1) # optional
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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#pwm output
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PB7 TIM4_CH2 TIM4 PWM(1) GPIO(59)
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PB6 TIM4_CH1 TIM4 PWM(2) GPIO(58)
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(26)
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(27)
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PC8 TIM8_CH3 TIM8 PWM(5) GPIO(39)
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PC9 TIM8_CH4 TIM8 PWM(6) GPIO(40)
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PB14 TIM1_CH2N TIM1 PWM(7) GPIO(35)
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PB15 TIM1_CH3N TIM1 PWM(8) GPIO(36)
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(41)
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# SD CARD SPI
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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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PC14 SDCARD_CS CS
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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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# OSD SPI
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PB12 OSD_CS CS
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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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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC5 RSSI_ADC_PIN ADC1 SCALE(1)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PC10 USART3_TX USART3
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PC11 USART3_RX USART3
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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PC13 VBUS INPUT OPENDRAIN
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PC15 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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#################################################
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### DEVICES ###
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#################################################
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# MPU6000 on SPI
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SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ
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# OSD on SPI
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SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
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# SD Card on SPI
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SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
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# Baro on I2C
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define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
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define HAL_BARO_BMP280_BUS 0
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define HAL_BARO_BMP280_I2C_ADDR 0x76
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define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
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define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
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define HAL_OS_FATFS_IO 1
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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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define HAL_DATAFLASH_FILE_BUFSIZE 8
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define HAL_DATAFLASH_MAV_BUFSIZE 2
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11
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define HAL_BATT_CURR_SCALE 31.7
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define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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define HAL_COMPASS_HMC5843_I2C_BUS 1
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define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_90
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define ALLOW_ARM_NO_COMPASS
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define OSD_ENABLED ENABLED
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ROMFS osd_font.bin libraries/AP_OSD/fonts/clarity.bin
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define BOARD_PWM_COUNT_DEFAULT 9
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define STM32_PWM_USE_ADVANCED TRUE
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