mirror of https://github.com/ArduPilot/ardupilot
152 lines
3.4 KiB
Plaintext
152 lines
3.4 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Sierra-PrecisionPoint
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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 1095
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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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# crystal frequency
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OSCILLATOR_HZ 16000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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# USB
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PA11 USB_FS_DM OTG1
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PA12 USB_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# USB setup
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USB_STRING_MANUFACTURER "Sierra Aerospace"
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USB_STRING_PRODUCT "Sierra-PrecisionPoint"
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# order of UARTs
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SERIAL_ORDER OTG1 USART1 USART2
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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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# USART2 for GPS
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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# GPS on 2nd port
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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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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# Add CS pins
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PC0 RM3100_CS CS
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PC1 DPS310_CS CS
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PC4 ICM42688_CS CS
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# --------------------- SPI1 ICM42688 -----------------------
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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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PC5 ICM42688_DRDY INPUT
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SPIDEV icm42688 SPI1 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
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# SPI1 FSYNC for ICM42688p
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# PB0 TIM3_CH3 TIM3
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# --------------------- SPI2 DPS310+RM3100 -----------------------
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PB10 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# Baro probe
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SPIDEV dps310 SPI2 DEVID2 DPS310_CS MODE3 5*MHZ 5*MHZ
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BARO DPS310 SPI:dps310
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# Mag probe
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SPIDEV rm3100 SPI2 DEVID1 RM3100_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
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# define AP_RM3100_REVERSAL_MASK 7
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# WS2812 LEDs
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PA15 TIM2_CH1 TIM2 PWM(1)
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# Board voltage ADC
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define HAL_USE_ADC TRUE
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PA0 VDD_5V_SENS ADC1 SCALE(2)
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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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PB13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB14 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "in.sierraaerospace.PrecisionPoint"
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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+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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# PB5 GPS_PPS INPUT FLOATING GPIO(6)
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# define CONFIGURE_PPS_PIN TRUE
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# define HAL_GPIO_PPS 6
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# PB4 F9P_TX_READY INPUT
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# allow for F9P GPS modules with moving baseline
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define GPS_MOVING_BASELINE 1
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define GPS_MAX_RATE_MS 200
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# Logging
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define HAL_LOGGING_ENABLED 1
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define HAL_PERIPH_ENABLE_RTC 1
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define HAL_OS_FATFS_IO 1
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# SD Card pins
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PC8 SDIO_D0 SDIO
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PC9 SDIO_D1 SDIO
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PC10 SDIO_D2 SDIO
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PC11 SDIO_D3 SDIO
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PC12 SDIO_CK SDIO
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PD2 SDIO_CMD SDIO
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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# allow for reboot command for faster development
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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# USB select
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PC6 USB_SEL OUTPUT PUSHPULL SPEED_LOW HIGH
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define HAL_SERIAL_ESC_COMM_ENABLED 1
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define HAL_RCIN_THREAD_ENABLED 1
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define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
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define HAL_MONITOR_THREAD_ENABLED 1
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