mirror of https://github.com/ArduPilot/ardupilot
96 lines
2.2 KiB
Plaintext
96 lines
2.2 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for bootloader for FMUv3 hardware (ie. for Pixhawk1, Pixhawk2 cube, XUAV2.1 etc)
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# MCU class and specific type
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MCU STM32F4xx STM32F427xx
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# board ID for firmware load
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APJ_BOARD_ID 9
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board voltage
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STM32_VDD 330U
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# flash size
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FLASH_SIZE_KB 2048
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# location of application code
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FLASH_BOOTLOADER_LOAD_KB 16
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# bootloader loads at start of flash
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FLASH_RESERVE_START_KB 0
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# USB setup
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USB_STRING_MANUFACTURER "ArduPilot"
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USB_STRING_SERIAL "%SERIAL%"
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# baudrate to run bootloader at on uarts
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define BOOTLOADER_BAUDRATE 115200
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# uarts and USB to run bootloader protocol on
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UART_ORDER OTG1 USART2 USART3 UART7
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# this is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN
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PA9 VBUS INPUT OPENDRAIN
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# now we define the pins that USB is connected on
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# Another USART, this one for telem1
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# the telem2 USART, also with RTS/CTS available
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# USART3 serial3 telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# define a LED
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PE12 LED_BOOTLOADER OUTPUT
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define HAL_LED_ON 1
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# this adds a C define which sets up the ArduPilot architecture
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# define. Any line starting with 'define' is copied literally as
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# a #define in the hwdef.h header
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define HAL_CHIBIOS_ARCH_FMUV3 1
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# we need to tell HAL_ChibiOS/Storage.cpp how much storage is
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# available (in bytes)
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define HAL_STORAGE_SIZE 16384
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# uncomment the lines below to enable strict API
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# checking in ChibiOS
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# define CH_DBG_ENABLE_ASSERTS TRUE
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# define CH_DBG_ENABLE_CHECKS TRUE
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# define CH_DBG_SYSTEM_STATE_CHECK TRUE
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# define CH_DBG_ENABLE_STACK_CHECK TRUE
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# Add CS pins to ensure they are high in bootloader
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PC1 MAG_CS CS
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PC2 MPU_CS CS
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PC13 GYRO_EXT_CS CS
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PC14 BARO_EXT_CS CS
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PC15 ACCEL_EXT_CS CS
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PD7 BARO_CS CS
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PE4 MPU_EXT_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW
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