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203 lines
3.9 KiB
203 lines
3.9 KiB
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# hw definition file for processing by chibios_hwdef.py |
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# for MindPX-v2 hardware |
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# MCU class and specific type |
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MCU STM32F4xx STM32F427xx |
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define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2 |
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# board ID for firmware load |
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APJ_BOARD_ID 88 |
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# crystal frequency |
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OSCILLATOR_HZ 8000000 |
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STM32_PLLM_VALUE 8 |
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STM32_ST_USE_TIMER 5 |
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# board voltage |
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STM32_VDD 330U |
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# flash size |
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FLASH_SIZE_KB 2048 |
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# space to reserve for bootloader and storage at start of flash |
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FLASH_RESERVE_START_KB 16 |
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# space to reserve for storage at end of flash |
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FLASH_RESERVE_END_KB 0 |
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# serial port for stdout |
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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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# order of UARTs (and USB) |
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UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 |
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# UART4 is GPS |
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PA0 UART4_TX UART4 |
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PA1 UART4_RX UART4 |
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PA4 VDD_5V_SENS ADC1 SCALE(2) |
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# SPI1 is fram bus |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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# Timers 1-4 are used for (servo) PWM outputs and 5/6 are used for clocks |
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# Use Timer 14 for tone generation |
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PA7 TIM14_CH1 TIM14 GPIO(32) ALARM |
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PA8 RUN_LED OUTPUT GPIO(0) |
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PA9 VBUS INPUT |
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PA10 SBUS_INV OUTPUT |
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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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# PWM outputs |
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PE9 TIM1_CH1 TIM1 PWM(1) |
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PE11 TIM1_CH2 TIM1 PWM(2) |
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PE13 TIM1_CH3 TIM1 PWM(3) |
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PE14 TIM1_CH4 TIM1 PWM(4) |
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PD12 TIM4_CH1 TIM4 PWM(5) |
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PD13 TIM4_CH2 TIM4 PWM(6) |
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PD14 TIM4_CH3 TIM4 PWM(7) |
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PD15 TIM4_CH4 TIM4 PWM(8) |
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PB4 TIM3_CH1 TIM3 PWM(9) GPIO(50) |
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PC7 TIM3_CH2 TIM3 PWM(10) GPIO(51) |
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PB0 TIM3_CH3 TIM3 PWM(11) GPIO(52) |
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PB1 TIM3_CH4 TIM3 PWM(12) GPIO(53) |
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PA15 TIM2_CH1 TIM2 PWM(13) GPIO(54) |
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PB3 TIM2_CH2 TIM2 PWM(14) GPIO(55) |
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PA2 TIM2_CH3 TIM2 PWM(15) |
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PA3 TIM2_CH4 TIM2 PWM(16) |
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PB2 GYRO_CS CS |
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PB5 SPI1_MOSI SPI1 |
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# USART1 is SBUS |
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PB6 USART1_TX USART1 |
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PB7 USART1_RX USART1 |
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# I2C1 is mag I2C |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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# I2C2 is FMU I2C |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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PB12 FRSKY_INV OUTPUT |
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# SPI2 is external SPI (radio NRF) |
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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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PC0 BAT_CURR_SENS ADC1 |
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PC1 FMU_GPIO3 INPUT # RSSI |
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PC2 BAT_VOLT_SENS ADC1 |
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PC3 FMU_ADC1 ADC1 |
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PC4 FMU_ADC2 ADC1 |
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PC5 FMU_ADC3 ADC1 |
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PC6 TIM8_CH1 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC |
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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 ACCEL_DRDY INPUT |
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PC14 MAG_DRDY INPUT |
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PC15 BARO_CS CS |
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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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PD7 NRF_CSN INPUT |
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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 NRF_INT INPUT |
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PD11 ACCEL_MAG_CS CS |
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# UART8 is FrSky |
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PE0 UART8_RX UART8 |
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PE1 UART8_TX UART8 |
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# SPI4 is M_SPI (main sensors) |
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PE2 SPI4_SCK SPI4 |
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PE3 MPU_CS CS |
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PE4 GYRO_DRDY INPUT |
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PE5 SPI4_MISO SPI4 |
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PE6 SPI4_MOSI SPI4 |
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# UART7 is debug |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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PE10 MPU_DRDY INPUT |
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PE12 FRAM_CS CS |
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PE15 NRF_CS CS |
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# SPI device table |
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SPIDEV ms5611 SPI4 DEVID1 BARO_CS MODE3 2*MHZ 2*MHZ |
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SPIDEV mpu6500 SPI4 DEVID2 MPU_CS MODE3 500*KHZ 4*MHZ |
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SPIDEV lsm9ds0_am SPI4 DEVID3 ACCEL_MAG_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV lsm9ds0_g SPI4 DEVID4 GYRO_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV ramtron SPI1 DEVID5 FRAM_CS MODE3 8*MHZ 8*MHZ |
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SPIDEV radio SPI2 DEVID6 NRF_CS MODE3 2*MHZ 2*MHZ |
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define HAL_CHIBIOS_ARCH_MINDPXV2 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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# enable RAMTROM parameter storage |
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define HAL_WITH_RAMTRON 1 |
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# fallback to flash storage |
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define STORAGE_FLASH_PAGE 22 |
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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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# enable FAT filesystem |
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define HAL_OS_FATFS_IO 1 |
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# enable RTSCTS |
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define AP_FEATURE_RTSCTS 1 |
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# battery setup |
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define HAL_BATT_VOLT_PIN 12 |
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define HAL_BATT_CURR_PIN 10 |
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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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# 12 PWM available by default |
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define BOARD_PWM_COUNT_DEFAULT 12 |
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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