mirror of https://github.com/ArduPilot/ardupilot
235 lines
5.4 KiB
Plaintext
235 lines
5.4 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 STM32F427xx
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# flash size
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FLASH_SIZE_KB 2048
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STM32_ST_USE_TIMER 5
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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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define STORAGE_FLASH_PAGE 2
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define HAL_STORAGE_SIZE 16384
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# board ID for firmware load
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APJ_BOARD_ID 1402
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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define PERIPH_FW TRUE
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define HAL_BUILD_AP_PERIPH
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define HAL_SUPPORT_RCOUT_SERIAL 0
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# use the app descriptor needed by MissionPlanner for CAN upload
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env APP_DESCRIPTOR MissionPlanner
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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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define HAL_NO_GCS
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define HAL_NO_MONITOR_THREAD
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define HAL_DISABLE_LOOP_DELAY
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define HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define NO_DATAFLASH TRUE
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define HAL_NO_RCIN_THREAD
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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define HAL_DISABLE_ADC_DRIVER FALSE
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define HAL_CAN_DEFAULT_NODE_ID 0
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define CAN_APP_NODE_NAME "org.ardupilot.Pixracer_periph"
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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env DISABLE_SCRIPTING 1
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MAIN_STACK 0x2000
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PROCESS_STACK 0x6000
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# listen for reboot command from uploader.py script
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# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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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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# --------- Peripherals -----------
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define HAL_PERIPH_ENABLE_ADSB
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define HAL_PERIPH_ADSB_PORT_DEFAULT 2
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define HAL_PERIPH_ENABLE_AIRSPEED
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define HAL_AIRSPEED_BUS_DEFAULT 0
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define AIRSPEED_MAX_SENSORS 1
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_GPS_PORT_DEFAULT 3
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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_BATTERY
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_RANGEFINDER
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define HAL_PERIPH_RANGEFINDER_PORT_DEFAULT 1
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define RANGEFINDER_MAX_INSTANCES 1
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define HAL_PERIPH_ENABLE_NOTIFY
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# --------- LED -----------
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# a LED to flash
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PB1 LED OUTPUT LOW
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# --------- ANALOG -----------
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# analog pins
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PA2 BATT_VOLTAGE_SENS ADC1
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PA3 BATT_CURRENT_SENS ADC1
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# define default battery setup
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_CURR_PIN 3
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define HAL_BATT_VOLT_SCALE 10.1
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define HAL_BATT_CURR_SCALE 17.0
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#---------------- SERIAL -----------------------------
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# order of UARTs
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# ---------------------------------------
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# | sr0 | sr1 | sr2 | sr3 | sr4 | sr5 | sr6
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# AP Name GPS
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# ---------------------------------------
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SERIAL_ORDER OTG1 USART2 USART3 UART4 EMPTY EMPTY UART7
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PA9 VBUS INPUT
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1 is ESP8266 unused
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# PB6 USART1_TX USART1
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# PB7 USART1_RX USART1
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# USART2 serial2 GPS1
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 serial3 telem1
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# UART4 is GPS2
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# UART8 serial4 FrSky unused
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# PE0 UART8_RX UART8
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# PE1 UART8_TX UART8
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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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#---------------- I2C -----------------------------
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# only one I2C bus in normal config
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 0
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# only one I2C bus
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I2C_ORDER I2C1
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# also probe all types of external I2C compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#------------------- SPI -----------------------------
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# spi bus for Sensors
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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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PE12 MAG_DRDY INPUT
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PE15 MAG_CS CS
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PB10 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PD7 BARO_CS CS
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# PD10 FRAM_CS CS
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# SPI device table. The DEVID values are chosen to match the PX4 port
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# of ArduPilot so users don't need to re-do their accel and compass calibrations
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# when moving to ChibiOS
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SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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# SPIDEV mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ //future use
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# SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ //future use
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ
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SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
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# SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ //unused
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# one barometer
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BARO MS56XX SPI:ms5611_int
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# 2 compasses. R15 has LIS3MDL instead of HMC5843
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COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
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# COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_9
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--------------- ALARM -----------------
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# PWM output for buzzer
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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--------------- CAN -----------------
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# enable CAN support
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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define HAL_CAN_DRIVER_DEFAULT 1
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# --------PWMS -----------
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 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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define BOARD_PWM_COUNT_DEFAULT 6
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