mirror of https://github.com/ArduPilot/ardupilot
300 lines
8.2 KiB
Plaintext
300 lines
8.2 KiB
Plaintext
###########################################################################################################################################################
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# hw definition file for processing by chibios_hwdef.py
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# STM32H743ZIT6
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# mRo Control Zero Classic flight controller
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# 12x PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic
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# A Dual CAN based flight controller
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# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
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# Baro, FRAM (256kb), SDCARD Socket, JTAG
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# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 2x I2C
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# Onboard 3 color LED and buzzer
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# Identical case and connector layout to the original 3DR / mRo Pixhawk
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# M10048B - Initial Release
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###########################################################################################################################################################
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# USB setup
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USB_STRING_MANUFACTURER "mRo"
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# board ID for firmware load
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APJ_BOARD_ID 1022
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# crystal frequency
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OSCILLATOR_HZ 24000000
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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# start on 2th sector (1st sector for bootloader)
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FLASH_RESERVE_START_KB 128
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# use FRAM for storage
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define HAL_STORAGE_SIZE 32768
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# Enable RAMTROM parameter storage.
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define HAL_WITH_RAMTRON 1
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# RC Input set for Interrupt not DMA
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PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
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# also USART6_RX for serial RC
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# Control of Spektrum power pin
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PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
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define HAL_GPIO_SPEKTRUM_PWR 70
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# Spektrum Power is Active Low
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define HAL_SPEKTRUM_PWR_ENABLED 0
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# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
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PG0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
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define HAL_GPIO_SPEKTRUM_RC 71
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# Order of I2C buses
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I2C_ORDER I2C1 I2C4
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# Now the first I2C bus. The pin speeds are automatically setup
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# correctly, but can be overridden here if needed.
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# Now the first I2C bus. The pin speeds are automatically setup
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# correctly, but can be overridden here if needed.
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# this board has no internal I2C busses
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs (and USB) and suggested usage
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# USART2 Telem 1 (Flow Control)
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# USART3 Telem 2 (Flow Control)
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# UART4 GPS with I2C1
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# UART7 GPS2 with I2C4
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# UART8 FRSKY Telem
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# USART1 Additional UART
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# UART6 RC input (Only RX pin is connected)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART7 UART8 USART1 OTG2
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# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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# Another USART, this one for telem1. This one has RTS and CTS lines.
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# USART2 telem1
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
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# USART3 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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# UART4 GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# UART7 GPS2
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# UART8 FrSky Telemetry
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# USART1 Spektrum RX
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# This is the pin to enable the 3.3v sensors rail. It can be used to power
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# cycle sensors to recover them in case there are problems with power on
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# timing affecting sensor stability. We pull it high by default.
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PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH GPIO(72)
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# This is the pin to enable the 1.8v sensors rail. It can be used to power
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# cycle sensors to recover them in case there are problems with power on
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# timing affecting sensor stability. We pull it high by default.
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PC13 VDD_1V8_SENSORS_EN OUTPUT HIGH GPIO(73)
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# This defines more ADC inputs.
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PB0 AUX_ADC1 ADC1 SCALE(1)
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PB1 AUX_ADC2 ADC1 SCALE(1)
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# And the analog input for airspeed (rarely used these days).
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PC5 PRESSURE_SENS ADC1 SCALE(2)
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# RSSI Analog Input
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PC0 RSSI_IN ADC1
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# Safety Switch Input
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PA10 SAFETY_IN INPUT
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PE6 LED_SAFETY OUTPUT
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PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# Now the VDD sense pin. This is used to sense primary board voltage.
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# Now setup the default battery pins driver analog pins and default
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# scaling for the power brick.
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define HAL_BATT_VOLT_PIN 4
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define HAL_BATT_CURR_PIN 15
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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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#SPI1 ICM_20602 / ICM_20948
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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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#SPI2 FRAM / DPS310
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PB10 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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#SPI5 BMI088
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PF7 SPI5_SCK SPI5
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PF8 SPI5_MISO SPI5
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PF9 SPI5_MOSI SPI5
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#SPI6 EXTERNAL
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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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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# Pins that USB is connected to.
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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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# PWM output for buzzer
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PF6 TIM16_CH1 TIM16 GPIO(74) ALARM
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# Now setup the pins for the microSD card, if available.
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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# More CS pins for more sensors. The labels for all CS pins need to
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# match the SPI device table later in this file.
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PD7 BARO_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW
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PE15 ICM_20948_CS CS
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PF0 BMI088_ACCEL_CS CS
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PF10 BMI088_GYRO_CS CS
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PG3 ICM_20602_CS CS
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PG9 EXT_SPI_CS CS
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PG10 EXT2_SPI_CS CS
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# the first CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PF11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(75)
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# the second CAN bus
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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PF12 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(76)
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# Now we start defining some PWM pins. We also map these pins to GPIO
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# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
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# outputs on the primary MCU are setup as PWM and how many as
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# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
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# starting at 50.
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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PA2 TIM2_CH3 TIM2 PWM(7) GPIO(56)
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PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57)
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PB11 TIM2_CH4 TIM2 PWM(9) GPIO(58)
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PE5 TIM15_CH1 TIM15 PWM(10) GPIO(59)
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PC6 TIM8_CH1 TIM8 PWM(11) GPIO(60)
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PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
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define BOARD_PWM_COUNT_DEFAULT 12
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# This is the invensense data-ready pin. We don't use it in the
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# default driver.
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PG2 MPU_DRDY INPUT
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# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v
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PG6 PWM_VOLT_SEL OUTPUT LOW GPIO(77)
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define HAL_GPIO_PWM_VOLT_PIN 77
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define HAL_GPIO_PWM_VOLT_3v3 0
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# Power flag pins: these tell the MCU the status of the various power
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# supplies that are available. The pin names need to exactly match the
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# names used in AnalogIn.cpp.
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PC1 VDD_BRICK_nVALID INPUT PULLUP
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SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ
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SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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# Now some defines for logging and terrain data files.
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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# Enable FAT filesystem support (needs a microSD defined via SDMMC).
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define HAL_OS_FATFS_IO 1
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# Control Zero has a TriColor LED, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# LED setup for PixracerLED driver
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PB4 LED_R OUTPUT HIGH GPIO(0)
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PB5 LED_G OUTPUT HIGH GPIO(1)
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PB3 LED_B OUTPUT HIGH GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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# 3 IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
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IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
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IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
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# 1 baro
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BARO DPS280 SPI:dps310
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# 1 compass
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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