mirror of https://github.com/ArduPilot/ardupilot
155 lines
2.8 KiB
Plaintext
155 lines
2.8 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# MCU class and specific type
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# MCU class and specific type
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MCU STM32F4xx STM32F412Rx
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# bootloader starts firmware at 64k
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FLASH_RESERVE_START_KB 64
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# store parameters in pages 2 and 3
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STORAGE_FLASH_PAGE 2
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define HAL_STORAGE_SIZE 8192
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# board ID for firmware load
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APJ_BOARD_ID 1001
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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STM32_ST_USE_TIMER 5
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# enable watchdog
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# order of UARTs
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SERIAL_ORDER USART1 EMPTY EMPTY USART2
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# a LED to flash
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PB12 LED OUTPUT LOW
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# USART1 for debug
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PB6 USART1_TX USART1 NODMA
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PB7 USART1_RX USART1 NODMA
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define HAL_SERIAL0_BAUD_DEFAULT 57600
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# USART2 for GPS
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA
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# SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# only one I2C bus in normal config
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PB4 I2C3_SDA I2C3
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PA8 I2C3_SCL I2C3
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C3 TRUE
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 0
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# only one I2C bus
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I2C_ORDER I2C3
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# only one SPI bus in normal config
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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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# SPI CS
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PA4 MAG_CS CS
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PA10 MS5611_CS CS
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# SPI devices
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SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
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SPIDEV ms5611 SPI1 DEVID2 MS5611_CS MODE3 20*MHZ 20*MHZ
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# compass
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_90
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COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
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# baro
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BARO BMP388 I2C:0:0x76
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BARO MS56XX SPI:ms5611
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# PWM output for buzzer
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PB10 TIM2_CH3 TIM2 GPIO(77) LOW ALARM
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# safety LED, active low
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PB1 SAFE_LED OUTPUT HIGH
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define SAFE_LED_ON 0
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# safety button
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PB3 SAFE_BUTTON INPUT PULLDOWN
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# WS2812 LED
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PB0 TIM3_CH3 TIM3 PWM(1)
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_NO_GPIO_IRQ
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# avoid RCIN thread to save memory
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define HAL_NO_RCIN_THREAD
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define HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 0
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define HAL_DISABLE_LOOP_DELAY
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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 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps"
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define HAL_NO_MONITOR_THREAD
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define HAL_MINIMIZE_FEATURES 0
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define HAL_DEVICE_THREAD_STACK 768
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 256
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG+BARO+Buzzer+NeoPixels
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define HAL_PERIPH_ENABLE_BARO
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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