3d0cf7e12a
implements an FFT engine based on the betaflight feature using ARM hardware accelerated CMSIS library make the FFT feature optional add dynamic gyro windows add quinns and candans estimators and record in DSP state disable DSP for boards with limited flash calculate power spectrum rather than amplitude start/analyse version of analysis to support threading allocate memory in a specific region constrain window size by CPU class control inclusion of DSP based on board size
165 lines
3.5 KiB
Plaintext
165 lines
3.5 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteF7 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 STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 123
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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define STM32_LSECLK 32768U
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define STM32_LSEDRV (3U << 3U)
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define STM32_PLLSRC STM32_PLLSRC_HSE
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define STM32_PLLM_VALUE 8
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define STM32_PLLN_VALUE 432
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define STM32_PLLP_VALUE 2
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define STM32_PLLQ_VALUE 9
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FLASH_SIZE_KB 1024
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# leave 2 sectors free
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FLASH_RESERVE_START_KB 96
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# board voltage
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STM32_VDD 330U
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
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UART_ORDER OTG1 USART3 USART1 USART2 UART4 UART7 USART6
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# buzzer
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PD15 TIM4_CH4 TIM4 GPIO(77) ALARM
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#PD15 BUZZER OUTPUT GPIO(80) LOW
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#define HAL_BUZZER_PIN 80
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#define HAL_BUZZER_ON 1
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#define HAL_BUZZER_OFF 0
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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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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for SDCard
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PA4 SDCARD_CS CS
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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 MAX7456 OSD
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PB12 MAX7456_CS CS
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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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# SPI4 for ICM20689
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PE4 ICM20689_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# I2C1 for baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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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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PC5 RSSI_ADC ADC1
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PA2 LED0 OUTPUT LOW
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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (GPS)
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PB11 USART3_RX USART3
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PB10 USART3_TX USART3
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# UART4 (GPS2)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# RC input defaults to timer capture
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PC7 TIM8_CH2 TIM8 RCININT PULLDOWN
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# alternative config using USART for protocols
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# like FPort
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PC7 USART6_RX USART6 NODMA ALT(1)
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PC6 USART6_TX USART6 NODMA
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# UART7 USED BY ESC FROM ORIGINAL DESIGN
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# Motors
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PB1 TIM1_CH3N TIM1 PWM(1) GPIO(50)
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PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53)
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PC9 TIM3_CH4 TIM3 PWM(5) GPIO(54)
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)
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# extra PWM outs
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#PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin
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#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer)
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DMA_PRIORITY S*
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# spi devices
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SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ
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SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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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_COMPASS_DEFAULT HAL_COMPASS_NONE
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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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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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# one BARO
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BARO BMP280 I2C:0:0x76
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# setup for OSD
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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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define BOARD_PWM_COUNT_DEFAULT 6
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define STM32_PWM_USE_ADVANCED TRUE
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# we are low on flash on this board
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define HAL_MINIMIZE_FEATURES 1
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define HAL_WITH_DSP 1
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