mirror of https://github.com/ArduPilot/ardupilot
153 lines
2.7 KiB
Plaintext
153 lines
2.7 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# MCU class and specific type
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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 1035
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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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# enable watchdog
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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# debug on USART2
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STDOUT_SERIAL SD2
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STDOUT_BAUDRATE 57600
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# order of UARTs
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SERIAL_ORDER USART2 USART1
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# sensor power control
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PC15 VDD_3V3_SENSORS_EN OUTPUT HIGH
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# LEDs
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PB15 LED OUTPUT HIGH GPIO(2) # blue
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PA7 LED_R OUTPUT HIGH GPIO(0)
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PB14 LED_G OUTPUT HIGH GPIO(1)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# USART1, GPS
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PA9 USART1_TX USART1 NODMA
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PA10 USART1_RX USART1 NODMA
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# USART2, debug
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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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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# I2C1 bus
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PB7 I2C1_SDA I2C1
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PB6 I2C1_SCL I2C1
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# I2C2 bus
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PB3 I2C2_SDA I2C2
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PB10 I2C2_SCL I2C2
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define HAL_I2C_INTERNAL_MASK 3
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# I2C buses
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I2C_ORDER I2C1 I2C2
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# one SPI bus
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PB5 SPI1_MOSI SPI1
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# SPI CS
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PA8 ACC_CS CS
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# version sense
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PA0 HW_REV_SENSE INPUT
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PA1 HW_VER_SENSE INPUT
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PB1 HW_VER_REV_DRIVE INPUT
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# GPS PPS
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PA15 GPS_PPS_IN INPUT
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# SPI devices
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SPIDEV bmi088_a SPI1 DEVID1 ACC_CS MODE3 10*MHZ 10*MHZ
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# compass
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COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_90
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# baro
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BARO BMP388 I2C:0:0x77
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# IMU
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IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_NO_GPIO_IRQ
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define HAL_USE_RTC FALSE
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define DMA_RESERVE_SIZE 0
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# enable CAN support
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define HAL_DEVICE_THREAD_STACK 768
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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+LEDs
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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_NOTIFY
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define HAL_PERIPH_ENABLE_RC_OUT
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# GPS on 2nd port
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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# enable NCP5623 on 2nd I2C bus
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define DEFAULT_NTF_LED_TYPES 128
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