mirror of https://github.com/ArduPilot/ardupilot
141 lines
2.8 KiB
Plaintext
141 lines
2.8 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Revo-Mini hardware
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 124
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define STM32_ST_USE_TIMER 5
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FLASH_SIZE_KB 1024
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# use USB for stdout, so no STDOUT_SERIAL
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# STDOUT_SERIAL SD3
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# STDOUT_BAUDRATE 57600
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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UART_ORDER OTG1 USART3 USART1
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# rcinput is PC6, which is the 3rd "PWM IN" pin (the yellow wire on a
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# revolution board)
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PC6 TIM8_CH1 TIM8 RCIN FLOAT LOW
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# analog pins
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PC3 VDD_5V_SENS ADC1
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PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC5 USB_SENSE ADC1
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# define default battery setup
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define HAL_BATT_VOLT_PIN 12
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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PC0 SBUS_INVERT OUTPUT LOW
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# LEDs
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PB5 LED_BLUE OUTPUT LOW GPIO(0)
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PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
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PB4 LED_RED OUTPUT LOW GPIO(2)
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# GPS port disabled (PC6 used for RCIN)
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#PC6 USART6_TX USART6
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#PC7 USART6_RX USART6
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# flexi port, setup as GPS
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# main port, for telem1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# alternative config
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# PB10 I2C2_SCL I2C2
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# PB11 I2C2_SDA I2C2
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# spi bus for IMU
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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 bus for dataflash
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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# IRQ for MPU6000
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PC4 EXTI_MPU6000 INPUT
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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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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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# SPI chip selects
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PA4 MPU_CS CS
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PB3 FLASH_CS CS
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# PWM out pins
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
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PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
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PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
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PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
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# disable last two channels as conflicts with TIM8 for RCIN
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#PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
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#PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
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PB7 DRDY_HMC5883 INPUT PULLUP
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define HAL_STORAGE_SIZE 15360
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define STORAGE_FLASH_PAGE 2
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# reserve 32k for bootloader and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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# one baro
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BARO MS56XX I2C:0:0x77
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# also allow for probing of external barometers
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define HAL_PROBE_EXTERNAL_I2C_BAROS
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# look for internal I2C compass
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COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
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# SPI devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ
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SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH
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#eliminate EKF2 to save flash size
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define HAL_NAVEKF2_AVAILABLE 0
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# 8 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 8
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define HAL_WITH_DSP FALSE
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