mirror of https://github.com/ArduPilot/ardupilot
178 lines
3.9 KiB
Plaintext
178 lines
3.9 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Matek H7A3-slim
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# MCU class and specific type
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MCU STM32H7xx STM32H7A3xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_MatekH7A3
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 16000000
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# bootloader takes first 4 sectors
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FLASH_RESERVE_START_KB 32
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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define HAL_STORAGE_SIZE 15360
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# use last 4 pages for flash storage
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# H7A3 has 256 pages of 8k each
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STORAGE_FLASH_PAGE 252
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# use double page size for flash storage to effectively
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# give 16k pages
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define AP_FLASH_STORAGE_DOUBLE_PAGE 1
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# # # # # # # # # # # # # # # # # # # # # #
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# USB
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PA11 OTG_HS_DM OTG1
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PA12 OTG_HS_DP OTG1
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# SPI1 for ICM42688P & MAX7456
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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 for SD/NAND
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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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# CS pins
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PC4 IMU_CS CS
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PB2 MAX7456_CS CS
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PC15 FLASH_CS CS
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PC14 SD_CS CS
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# ONE I2C bus
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I2C_ORDER I2C3
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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# ADC
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PC5 BATT2_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT2_VOLT_PIN 18
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define HAL_BATT2_CURR_PIN 8
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define HAL_BATT_VOLT_SCALE 21.0
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define HAL_BATT_CURR_SCALE 40.0
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define HAL_BATT2_VOLT_SCALE 21.0
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# LED
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# green LED1 marked as B/E
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# blue LED0 marked as ACT
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define AP_NOTIFY_GPIO_LED_2_ENABLED 1
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PA14 LED0 OUTPUT LOW GPIO(90) # blue
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PA13 LED1 OUTPUT LOW GPIO(91) # green
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define HAL_GPIO_A_LED_PIN 91
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define HAL_GPIO_B_LED_PIN 90
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# --------------------- UARTs ---------------------------
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
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# USART1
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PB14 USART1_TX USART1
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PB15 USART1_RX USART1
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# USART2
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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# USART3
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PC10 USART3_TX USART3
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PC11 USART3_RX USART3
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# UART4
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# UART5
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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# USART6
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA
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# CAN bus
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# PWM
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PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR
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PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR
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PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR
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PB3 TIM2_CH2 TIM2 PWM(4) GPIO(53)
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
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PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56)
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PB5 TIM3_CH2 TIM3 PWM(8) GPIO(57) BIDIR
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PB6 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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PB7 TIM4_CH2 TIM4 PWM(10) GPIO(59)
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PB8 TIM16_CH1 TIM16 PWM(11) GPIO(60)
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# Beeper
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PB9 TIM17_CH1 TIM17 GPIO(32) ALARM
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# GPIOs
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PC13 PINIO1 OUTPUT GPIO(81) LOW
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define RELAY1_PIN_DEFAULT 81
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DMA_PRIORITY S*
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DMA_NOSHARE SPI1* SPI2*
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# ------------------- IMU ICM42688p ------------------
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SPIDEV icm42688 SPI1 DEVID1 IMU_CS MODE3 2*MHZ 16*MHZ
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IMU Invensensev3 SPI:icm42688 ROTATION_NONE
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# ------------------ OSD AT7456E ----------------------
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SPIDEV osd SPI1 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# --------------------- SD & FLASH ----------------------
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SPIDEV sdcard SPI2 DEVID3 SD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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define HAL_OS_FATFS_IO 1
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define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25NXX
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# ----------------- I2C compass & Baro -----------------
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# built-in barometer
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BARO SPL06 I2C:0:0x76
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_SPL06_ENABLED 1
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