mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.5 KiB
Plaintext
63 lines
1.5 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for iFlight Beast H7 v2 hardware, based on Beast H7 v1
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# thanks to betaflight for pin information
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include ../BeastH7/hwdef.dat
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undef APJ_BOARD_ID
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undef DEFAULT_SERIAL3_PROTOCOL
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undef IMU
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undef BARO
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undef PD15
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undef PE9 PE11 PB8 PB9 PB11 PB10 PA10 PA9 PA3 PA2
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undef HAL_DEFAULT_INS_FAST_SAMPLE DMA_PRIORITY DMA_NOSHARE
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undef I2C1
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# board ID for firmware load
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APJ_BOARD_ID 1056
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# V2 has different motor mapping
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PB4 TIM3_CH1 TIM3 PWM(2) GPIO(51) BIDIR # 2
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PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) # 3
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I2C_ORDER I2C1 I2C2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
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# Buzzer - DMA timer channel use by LEDs
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PD2 BUZZER OUTPUT GPIO(80) LOW
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# USART1 (DJI)
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1 NODMA
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# USART2 (DJI RCIN)
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PA3 USART2_RX USART2
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PA2 USART2_TX USART2 NODMA
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
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# USART3 (RCIN)
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PB11 USART3_RX USART3
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PB10 USART3_TX USART3
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# I2C1 for baro
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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# I2C2 for compass. These pins can also be used as USART3
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PB10 I2C2_SCL I2C2 ALT(1)
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PB11 I2C2_SDA I2C2 ALT(1)
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# spi devices
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SPIDEV bmi270 SPI1 DEVID1 MPU6000_CS MODE3 10*MHZ 10*MHZ
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# no built-in compass and no external I2C so no compass
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# one IMU
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
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# Some boards have no baro, some have a DPS310 Baro on I2C1
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define HAL_BARO_ALLOW_INIT_NO_BARO 1
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BARO DPS310 I2C:0:0x76
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