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246 lines
5.7 KiB
246 lines
5.7 KiB
# hw definition file for processing by chibios_hwdef.py |
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# for FMUv4pro hardware (Pixhawk 3 Pro) |
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4PRO |
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define BOARD_TYPE_DEFAULT 14 |
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# MCU class and specific type |
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MCU STM32F4xx STM32F469xx |
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# board ID for firmware load |
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APJ_BOARD_ID 13 |
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# crystal frequency |
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OSCILLATOR_HZ 24000000 |
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# board voltage |
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STM32_VDD 330U |
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# ChibiOS system timer |
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STM32_ST_USE_TIMER 5 |
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# flash size |
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FLASH_SIZE_KB 2048 |
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# serial port for stdout, disabled so console is on USB |
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#STDOUT_SERIAL SD7 |
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#STDOUT_BAUDRATE 57600 |
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# order of I2C buses |
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I2C_ORDER I2C1 I2C2 |
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# now the UART order. These map to the hal.uartA to hal.uartF |
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# objects. If you use a shorter list then HAL_Empty::UARTDriver |
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# objects are substituted for later UARTs, or you can leave a gap by |
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# listing one or more of the uarts as EMPTY |
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# 1) SERIAL0: console (primary mavlink, usually USB) |
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# 2) SERIAL3: primary GPS |
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# 3) SERIAL1: telem1 |
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# 4) SERIAL2: telem2 |
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# 5) SERIAL4: GPS2 |
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# 6) SERIAL5: extra UART (usually RTOS debug console) |
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# order of UARTs (and USB) |
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UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7 |
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# UART for IOMCU |
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IOMCU_UART USART6 |
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# we have a safety switch on IO |
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define HAL_HAVE_SAFETY_SWITCH 1 |
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# UART4 serial GPS |
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PA0 UART4_TX UART4 |
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PA1 UART4_RX UART4 |
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# battery connectors |
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1) |
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# VDD sense pin. This is used to sense primary board voltags |
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PA4 VDD_5V_SENS ADC1 SCALE(2) |
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# SPI1 is sensors bus |
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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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# SPI1 CS pins |
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PC2 MPU9250_CS CS |
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PC15 20608_CS CS |
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PD7 BARO_CS CS |
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PE15 MAG_CS CS |
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PH5 EEPROM_CS CS |
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PA9 VBUS INPUT OPENDRAIN |
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PA10 FRSKY_INV OUTPUT GPIO(78) |
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# now we define the pins that USB is connected on |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# PWM output for buzzer |
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM |
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# this defines a couple of general purpose outputs, mapped to GPIO |
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# numbers 1 and 2 for users |
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# PB0 EXTERN_GPIO1 OUTPUT GPIO(1) |
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# PB1 EXTERN_GPIO2 OUTPUT GPIO(2) |
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#PB0 INPUT PULLUP # RC Input PPM |
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PB1 LED_GREEN OUTPUT GPIO(0) |
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PB2 BOOT1 INPUT |
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PB3 LED_BLUE OUTPUT GPIO(1) |
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PB6 USART1_TX USART1 |
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PB7 USART1_RX USART1 |
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PA8 USART1_RTS USART1 |
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# PE10 is not a hw CTS pin for USART1 |
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PE10 8266_CTS INPUT |
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# make GPIOs for ESP8266 available via mavlink relay control as pins |
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# 60 to 63 |
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PB4 8266_GPIO2 OUTPUT GPIO(60) |
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PE2 8266_GPI0 INPUT PULLUP GPIO(61) |
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PE5 8266_PD OUTPUT HIGH GPIO(62) |
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PE6 8266_RST OUTPUT HIGH GPIO(63) |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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PF1 I2C2_SCL I2C2 |
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PF0 I2C2_SDA I2C2 |
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# SPI2 is FRAM |
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PB10 SPI2_SCK SPI2 |
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PB11 LED_RED OUTPUT GPIO(2) |
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PB12 CAN2_RX CAN2 |
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PB13 CAN2_TX CAN2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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PC0 VBUS_VALID INPUT |
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PC1 BATT2_VOLTAGE_SENS ADC1 SCALE(1) |
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PC3 BATT2_CURRENT_SENS ADC1 SCALE(1) |
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#PC4 SAFETY_IN INPUT PULLDOWN |
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# this sets up the UART for talking to the IOMCU. Note that it is |
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# vital that this UART has DMA available. See the DMA settings below |
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# for more information |
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# USART6 to IO |
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PC6 USART6_TX USART6 |
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PC7 USART6_RX USART6 |
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# now setup the pins for the microSD card, if available |
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PC8 SDIO_D0 SDIO |
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PC9 SDIO_D1 SDIO |
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PC10 SDIO_D2 SDIO |
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PC11 SDIO_D3 SDIO |
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PC12 SDIO_CK SDIO |
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PC13 SBUS_INV OUTPUT |
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PC14 20608_DRDY INPUT |
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PD0 CAN1_RX CAN1 |
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PD1 CAN1_TX CAN1 |
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PD2 SDIO_CMD SDIO |
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# USART2 serial2 telem1 |
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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 telem2 |
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PD8 USART3_TX USART3 |
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PD9 USART3_RX USART3 |
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PD10 FRAM_CS CS |
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PD11 USART3_CTS USART3 |
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PD12 USART3_RTS USART3 |
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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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PD15 MPU9250_DRDY INPUT |
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# UART8 serial4 FrSky |
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PE0 UART8_RX UART8 |
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PE1 UART8_TX UART8 |
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PE3 VDD_SENSORS_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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PC5 VDD_5V_WIFI_EN OUTPUT HIGH |
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PF4 nVDD_5V_HIPOWER_EN OUTPUT HIGH |
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PG10 nVDD_5V_PERIPH_EN OUTPUT HIGH |
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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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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) |
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PE12 MAG_DRDY INPUT |
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) |
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) |
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# Power flag pins: these tell the MCU the status of the various power |
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# supplies that are available. The pin names need to exactly match the |
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# names used in AnalogIn.cpp. |
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PB5 VDD_BRICK_VALID INPUT PULLUP |
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PG5 VDD_BRICK2_VALID INPUT PULLUP |
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PF3 VDD_5V_HIPOWER_OC INPUT PULLUP |
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PG4 VDD_5V_PERIPH_OC INPUT PULLUP |
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# SPI device table |
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ |
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SPIDEV mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ |
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SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*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 |
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define HAL_CHIBIOS_ARCH_FMUV4PRO 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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define HAL_STORAGE_SIZE 16384 |
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define HAL_WITH_RAMTRON 1 |
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# fallback to flash is no FRAM fitted |
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define STORAGE_FLASH_PAGE 22 |
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# enable FAT filesystem support (needs a microSD defined via SDIO) |
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define HAL_OS_FATFS_IO 1 |
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# enable RTSCTS support |
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define AP_FEATURE_RTSCTS 1 |
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# enable SBUS_OUT on IOMCU (if you have an IOMCU) |
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define AP_FEATURE_SBUS_OUT 1 |
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# 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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# setup serial port defaults for ESP8266 |
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define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink |
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define HAL_SERIAL5_BAUD 921600 |
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# 8 PWM available by default |
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define BOARD_PWM_COUNT_DEFAULT 6 |
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# We can't share the IO UART (USART6). |
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DMA_NOSHARE USART6_TX USART6_RX ADC1 |
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DMA_PRIORITY USART6* |
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ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin
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