mirror of https://github.com/ArduPilot/ardupilot
167 lines
3.5 KiB
Plaintext
167 lines
3.5 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for TMH7 hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1138
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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MCU_CLOCKRATE_MHZ 480
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FLASH_SIZE_KB 2048
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 384
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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STM32_ST_USE_TIMER 2
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# SPI devices
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# SPI1
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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
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI3
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PB2 SPI3_MOSI SPI3
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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# SPI4
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE14 SPI4_MOSI SPI4
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# Chip select pins
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PA15 FLASH1_CS CS
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PB12 OSD1_CS CS
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PA4 GYRO1_CS CS
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PE11 GYRO2_CS CS
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# Beeper
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PE3 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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# SERIAL ports
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SERIAL_ORDER OTG1 USART1 EMPTY USART3 EMPTY UART5 USART6 UART7 UART8
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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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# USART1 (ESC Telemetry)
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PA10 USART1_RX USART1 NODMA
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_ESCTelemetry
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# UART3
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3 NODMA
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# UART5 (GPS)
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS
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# USART6 (RX)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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# UART7 (DJI)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_DJI_FPV
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# UART8 (SBUS/SmartAudio)
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PE0 UART8_RX UART8 # no suitable timer for RCININT
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PE1 UART8_TX UART8
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# I2C ports
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I2C_ORDER I2C1
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# I2C1
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# One baro
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BARO DPS310 I2C:0:0x76
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# Servos
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PB8 CAMERA1 OUTPUT GPIO(70) LOW
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define RELAY2_PIN_DEFAULT 70
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# ADC ports
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# ADC1
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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define HAL_BATT_VOLT_PIN 11
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define HAL_BATT_VOLT_SCALE 11.0
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PC2 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 12
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PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_CURR_PIN 13
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define HAL_BATT_CURR_SCALE 50.0
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define HAL_BATT_MONITOR_DEFAULT 4
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# MOTORS
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PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1
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PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4
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# LEDs
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
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define AP_NOTIFY_GPIO_LED_2_ENABLED 1
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PE5 LED1 OUTPUT LOW GPIO(91)
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define HAL_GPIO_A_LED_PIN 91
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PE4 LED2 OUTPUT LOW GPIO(92)
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define HAL_GPIO_B_LED_PIN 92
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# Dataflash setup
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SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# OSD setup
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SPIDEV osd SPI2 DEVID1 OSD1_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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# IMU setup
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SPIDEV icm42688 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ
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SPIDEV bmi270 SPI4 DEVID1 GYRO2_CS MODE3 1*MHZ 8*MHZ
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IMU BMI270 SPI:bmi270 ROTATION_PITCH_180_YAW_90
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
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DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
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DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
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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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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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define AP_SCRIPTING_ENABLED 0
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