mirror of https://github.com/ArduPilot/ardupilot
341 lines
7.2 KiB
Plaintext
341 lines
7.2 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for the ARKV6X hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# board ID for firmware load
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APJ_BOARD_ID 57
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# Enable all IMUs to be used and therefore three active EKF Lanes
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define HAL_EKF_IMU_MASK_DEFAULT 7
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FLASH_RESERVE_START_KB 128
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# to be compatible with the px4 bootloader we need
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# to use a different RAM_MAP
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env USE_ALT_RAM_MAP 1
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O2
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# order of UARTs (and USB) no IO MCU
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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 USART6 OTG2
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# order of UARTs (and USB) with IO MCU
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# SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
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# debug console
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STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 57600
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# telem1
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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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PF8 UART7_RTS UART7
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PE10 UART7_CTS UART7
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# telem2
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PC8 UART5_RTS UART5
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PC9 UART5_CTS UART5
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# telem3
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PA3 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# GPS1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# GPS2
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# uart4
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PH13 UART4_TX UART4
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PH14 UART4_RX UART4
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# debug uart
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# USART6 is for IOMCU
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PC6 USART6_TX USART6
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# used for RC SBUS
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#PC7 USART6_RX USART6
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# Uncomment this line for carriers boards with an IO MCU
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# IOMCU_UART USART6
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# Ethernet
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PB11 ETH_RMII_TX_EN ETH1
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PG13 ETH_RMII_TXD0 ETH1
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PG12 ETH_RMII_TXD1 ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PG15 GPIO_ETH_ENABLE OUTPUT HIGH GPIO(113)
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define HAL_GPIO_ETH_ENABLE 113
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define BOARD_PHY_ID MII_LAN8742A_ID
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define BOARD_PHY_RMII
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define HAL_PERIPH_ENABLE_NETWORKING
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# ADC
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PA0 SCALED1_V3V3 ADC1 SCALE(2)
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PA4 SCALED2_V3V3 ADC1 SCALE(2)
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PB0 SCALED3_V3V3 ADC1 SCALE(2)
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PF12 SCALED4_V3V3 ADC1 SCALE(2)
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PB1 VDD_5V_SENS ADC1 SCALE(2)
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# pin7 on AD&IO, analog 12
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PC2 ADC1_6V6 ADC1 SCALE(2)
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# pin6 on AD&IO, analog 13
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PC3 ADC1_3V3 ADC1 SCALE(1)
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# SPI1 - IIM42652
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PA5 SPI1_SCK SPI1
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PB5 SPI1_MOSI SPI1
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PG9 SPI1_MISO SPI1
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PI9 IMU1_CS CS
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PF2 IMU1_DRDY INPUT
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# SPI2 - ICM42688
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PI1 SPI2_SCK SPI2
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PI2 SPI2_MISO SPI2
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PI3 SPI2_MOSI SPI2
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PH5 IMU2_CS CS
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PA10 IMU2_DRDY INPUT
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# SPI3 - ICM42688
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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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PI4 IMU3_CS CS
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PI6 IMU3_DRDY INPUT
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# SPI5 - FRAM
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PF7 SPI5_SCK SPI5
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PH7 SPI5_MISO SPI5
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PF11 SPI5_MOSI SPI5
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PG7 FRAM_CS CS
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# SPI6 - external1 (disabled to save DMA channels)
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#PB3 SPI6_SCK SPI6
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#PA6 SPI6_MISO SPI6
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#PG14 SPI6_MOSI SPI6
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#PI10 EXT1_CS CS
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#PD11 DRDY_ADIS16507 INPUT GPIO(93)
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# use GPIO(93) for data ready on ADIS16507
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#define ADIS_DRDY_PIN 93
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# PWM output pins
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PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50)
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PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
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PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
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PH10 TIM5_CH1 TIM5 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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# we need to disable DMA on the last 2 FMU channels
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# as timer 12 doesn't have a TIMn_UP DMA option
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PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
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PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
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# GPIOs
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PE11 FMU_CAP1 INPUT GPIO(58)
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PC0 NFC_GPIO INPUT GPIO(60)
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# I2C buses
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# I2C1, GPS+MAG
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2, GPS2+MAG
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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PG5 DRDY1_BMP388 INPUT
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# I2C3, MS5611, external
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PA8 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 internal
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C4 I2C1 I2C2 I2C3
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define HAL_I2C_INTERNAL_MASK 1
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# heater - No heater on Rev 1
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# PB10 HEATER_EN OUTPUT LOW GPIO(80)
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# define HAL_HEATER_GPIO_PIN 80
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# Setup the IMU heater
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# define HAL_HAVE_IMU_HEATER 1
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# define HAL_IMU_TEMP_DEFAULT 45
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# define HAL_IMUHEAT_P_DEFAULT 50
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# define HAL_IMUHEAT_I_DEFAULT 0.07
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# armed indication
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PE6 nARMED OUTPUT HIGH
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# power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
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PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
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PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
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PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
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# start peripheral power off, then enable after init
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# this prevents a problem with radios that use RTS for
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# bootloader hold
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PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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# Control of Spektrum power pin
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PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
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define HAL_GPIO_SPEKTRUM_PWR 73
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# Spektrum Power is Active High
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define HAL_SPEKTRUM_PWR_ENABLED 1
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# power sensing
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PG1 VDD_BRICK_nVALID INPUT PULLUP
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PG2 VDD_BRICK2_nVALID INPUT PULLUP
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PG3 VDD_BRICK3_nVALID INPUT PULLUP
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# microSD support
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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# safety
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PD10 LED_SAFETY OUTPUT
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PF5 SAFETY_IN INPUT PULLDOWN
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# LEDs
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PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
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PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
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PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
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# setup for "pixracer" RGB LEDs
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
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define HAL_GPIO_LED_ON 0
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# ID pins
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PG0 HW_VER_REV_DRIVE OUTPUT LOW
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# PH3 HW_VER_SENS ADC3 SCALE(1)
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# PH4 HW_REV_SENS ADC3 SCALE(1)
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# PWM output for buzzer
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PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
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# RC input
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
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# barometers
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BARO BMP388 I2C:0:0x76
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# compass
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# builtin compass
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COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
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# IMU devices for ARKV6X
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SPIDEV iim42652 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm42688 SPI2 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm42688_ext SPI3 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ
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#SPIDEV adis16507 SPI6 DEVID1 EXT1_CS MODE3 1*MHZ 2*MHZ
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SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# ARKV6X 3 IMUs
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IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_180_YAW_135
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_45
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IMU Invensensev3 SPI:icm42688_ext ROTATION_ROLL_180_YAW_270
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#IMU ADIS1647x SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# enable RAMTROM parameter storage
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define HAL_STORAGE_SIZE 32768
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define HAL_WITH_RAMTRON 1
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# INA226 battery monitor
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define HAL_BATTMON_INA2XX_BUS 1
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define HAL_BATTMON_INA2XX_ADDR 0
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define HAL_BATT_MONITOR_DEFAULT 21
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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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DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
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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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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
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# enable DFU reboot for installing bootloader
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# note that if firmware is build with --secure-bl then DFU is
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# disabled
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ENABLE_DFU_BOOT 1
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# bootloader embedding / bootloader flashing not available
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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