mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 02:18:29 -04:00
10416f92c4
this appears to be the root cause of the parameter resets on CubeOrange. We need to ensure the CS pin is not floating or random noise on the SPI bus for FRAM can cause the FRAM to become corrupt
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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