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366 lines
8.5 KiB
366 lines
8.5 KiB
# hw definition file for processing by chibios_hwdef.py |
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# for the HolybroV6X 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 53 |
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# enable board sub-type detection for FMUV6 |
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define HAL_CHIBIOS_ARCH_FMUV6 1 |
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define AP_FEATURE_BOARD_DETECT 1 |
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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) |
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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2 |
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# default the 2nd interface to MAVLink2 |
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 |
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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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PC7 USART6_RX USART6 |
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IOMCU_UART USART6 |
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# uart6, RX only, RC input, if no IOMCU |
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# PC7 USART6_RX USART6 |
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# ethernet (not implemented yet) |
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#PA1 ETH_REF_CLK |
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#PA2 ETH_MDIO |
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#PA7 ETH_CRS_DV |
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#PB11 ETH_TX_EN |
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#PC1 ETH_MDC |
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#PC4 ETH_RXD0 |
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#PC5 ETH_RXD1 |
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#PG12 ETH_TXD1 |
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#PG13 ETH_TXD0 |
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#PG15 ETH_POWER_EN |
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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 - IMU1 |
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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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# 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 ICM42688_CS CS |
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PA10 ICM42688_DRDY INPUT |
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# SPI3 - BMI088 |
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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 BMI088_A_CS CS |
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PI8 BMI088_G_CS CS |
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PI6 BMI088_DRDY_ACC INPUT |
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PI7 BMI088_DRDY_GYR INPUT |
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# SPI4 - BMM150 |
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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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PF3 BMM150_DRDY INPUT |
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PH15 BMM150_CS CS |
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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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# 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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# this board is very tight on DMA channels. To allow for more UART DMA |
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# we disable DMA on I2C. This also prevents a problem with DMA on I2C |
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# interfering with IMUs |
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NODMA I2C* |
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define STM32_I2C_USE_DMA FALSE |
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# heater |
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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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PG15 ETH_PWR_EN OUTPUT LOW # disable power on ethernet |
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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 HAL_GPIO_A_LED_PIN 90 |
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define HAL_GPIO_B_LED_PIN 91 |
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define HAL_GPIO_C_LED_PIN 92 |
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define HAL_GPIO_LED_ON 0 |
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define HAL_HAVE_PIXRACER_LED |
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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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PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW |
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# barometers (Holybro 6X) |
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BARO BMP388 I2C:2:0x76 |
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BARO BMP388 I2C:0:0x77 |
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# barometers (CUAV 6X) |
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BARO ICP201XX I2C:0:0x64 |
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BARO ICP201XX I2C:2:0x63 |
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# compass |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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# builtin compass on Holybro 6X |
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COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE |
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# builtin compass on CUAV 6X |
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COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180 |
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# compensate for magnetic field generated by the heater on CUAV-6X RM3100 |
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define HAL_HEATER_MAG_OFFSET_RM3100 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(-19,37,-24) |
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# compensate for magnetic field generated by the heater on Holybro6X BMM150 |
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define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x10,0x05),Vector3f(12,-38,23) |
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define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150} |
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# IMU devices for Holybro6X |
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SPIDEV bmi088_g SPI3 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV bmi088_a SPI3 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ |
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# alternative to bmi088 |
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SPIDEV icm20649 SPI3 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV icm42688 SPI2 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV icm42670 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ |
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# IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and |
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# ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS |
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# pins as the Holybro board, but the orientation of the BMI088 is |
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# different. The ICM20649 is on a different bus |
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SPIDEV icm20649_2 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ |
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SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ |
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# Holybro6X 3 IMUs |
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) |
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) |
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IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088 |
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IMU Invensensev3 SPI:icm42670 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) |
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# CUAV-6X 3 IMUs |
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IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_CUAV_6X) |
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X) |
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IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X) |
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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 0x41 |
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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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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" |
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" |
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
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