ardupilot/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotH743/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py for Qiotek ZealotH743
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# crystal frequency
OSCILLATOR_HZ 8000000
# board ID for firmware load
APJ_BOARD_ID 1036
FLASH_SIZE_KB 2048
# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2
# ChibiOS system timer
STM32_ST_USE_TIMER 2
# bootloader takes first sector
FLASH_RESERVE_START_KB 128
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7 OTG2
# now we define the pins that USB is connected on
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT
# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# SPI1 - internal sensors and OSD
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# SPI2 - FRAM and SmartCard
PD3 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2
# SPI3 - ADIS16470 sensor
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
# sensor
PB2 IMU1_CS CS
PE10 IMU2_CS CS
PE12 IMU3_CS CS
PE3 BARO1_CS CS
PD7 BARO2_CS CS
PA8 AT7456_CS CS
PA10 FRAM_CS CS
PC10 FLASH_CS CS
PA15 ADIS16470_CS CS
# use GPIO(93) for data ready on ADIS16470
define ADIS_DRDY_PIN 93
# define the order that I2C buses
I2C_ORDER I2C2 I2C1
# I2C1 is on GPS port
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1
# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
define HAL_I2C_INTERNAL_MASK 1
# define UARTs
# USART1 is telem1
PB15 USART1_RX USART1
PB14 USART1_TX USART1
# USART2 is telem2
PD6 USART2_RX USART2
PD5 USART2_TX USART2
# USART3 is GPS1
PD9 USART3_RX USART3
PD8 USART3_TX USART3 NODMA
# USART4 is GPS2
PB8 UART4_RX UART4 NODMA
PB9 UART4_TX UART4 NODMA
# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
# PWM AUX channels
PA2 TIM5_CH3 TIM5 PWM(1) GPIO(50)
PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51)
PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)
PC9 TIM3_CH4 TIM3 PWM(4) GPIO(53)
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
PC6 TIM3_CH1 TIM3 PWM(13) GPIO(62) NODMA
PC7 TIM3_CH2 TIM3 PWM(14) GPIO(63) NODMA
# PWM output for buzzer
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
# RC input
PC8 TIM8_CH3 TIM8 RCININT PULLUP LOW
# analog in
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(2)
PA1 BATT_CURRENT_SENS ADC1 SCALE(2)
PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
PC1 BATT2_CURRENT_SENS ADC1 SCALE(2)
# Board VCC and servo rail VCC
PA4 VDD_5V_SENS ADC1 SCALE(2)
PC4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
# analog in ADC6.6
PC5 PRESSURE_SENS ADC1 SCALE(2)
PB1 RSSI_IN ADC1 SCALE(2)
# setup the parameter for the ADC power module
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 16
define HAL_BATT_CURR_PIN 17
define HAL_BATT_VOLT_SCALE 20.000
define HAL_BATT_CURR_SCALE 61.000
# not enabled by default
# define HAL_BATT2_MONITOR 4
define HAL_BATT2_VOLT_PIN 10
define HAL_BATT2_CURR_PIN 11
define HAL_BATT2_VOLT_SCALE 20.000
define HAL_BATT2_CURR_SCALE 61.000
# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
# 2nd CAN bus
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
# control for silent (no output) for CAN
PD11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
PD10 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
# SPI devices
SPIDEV adis16470 SPI3 DEVID1 ADIS16470_CS MODE3 1*MHZ 2*MHZ
SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
SPIDEV imu2 SPI1 DEVID2 IMU2_CS MODE3 2*MHZ 8*MHZ
SPIDEV imu3 SPI1 DEVID3 IMU3_CS MODE3 2*MHZ 8*MHZ
SPIDEV baro1 SPI1 DEVID2 BARO1_CS MODE3 5*MHZ 5*MHZ
SPIDEV baro2 SPI1 DEVID1 BARO2_CS MODE3 5*MHZ 5*MHZ
SPIDEV osd SPI1 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ
SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 10*MHZ
# four IMUs, adi16740 is used, then imu3 will be removed
IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 ADIS_DRDY_PIN
IMU Invensense SPI:imu1 ROTATION_ROLL_180
IMU Invensensev3 SPI:imu1 ROTATION_YAW_270
IMU Invensense SPI:imu2 ROTATION_ROLL_180
IMU Invensensev3 SPI:imu2 ROTATION_YAW_270
IMU Invensense SPI:imu3 ROTATION_ROLL_180
IMU Invensensev3 SPI:imu3 ROTATION_YAW_270
# two Baro sensors
BARO DPS280 SPI:baro1
BARO DPS280 SPI:baro2
define HAL_DEFAULT_INS_FAST_SAMPLE 5
# look for I2C compass
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 1
# LED setup is similar to PixRacer
define HAL_HAVE_PIXRACER_LED
PE2 LED_RED OUTPUT GPIO(10)
PE1 LED_GREEN OUTPUT GPIO(11)
PE0 LED_BLUE OUTPUT GPIO(12)
define HAL_GPIO_A_LED_PIN 10
define HAL_GPIO_B_LED_PIN 11
define HAL_GPIO_C_LED_PIN 12
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
#define GPIOs
PE15 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1
PC11 EXTERN_GPIO1 OUTPUT GPIO(1)
PC12 EXTERN_GPIO2 OUTPUT GPIO(2)
PD2 EXTERN_GPIO3 OUTPUT GPIO(3)
PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
# enable FAT filesystem support
define HAL_OS_FATFS_IO 1
# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1
# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1
PC13 LED_SAFETY OUTPUT
PE4 SAFETY_IN INPUT PULLDOWN
# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
DMA_PRIORITY SPI1* SPI3* TIM*UP*
DMA_NOSHARE SPI1* TIM*UP*