ardupilot/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py
# for H757
# MCU class and specific type
MCU STM32H7xx STM32H757xx
# USB setup
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
USB_PRODUCT 0x1059
USB_STRING_MANUFACTURER "CubePilot"
USB_STRING_PRODUCT "CubeRed"
define CORE_CM7
define SMPS_PWR
# crystal frequency
OSCILLATOR_HZ 24000000
# board ID for firmware load
APJ_BOARD_ID 1069
FLASH_SIZE_KB 2048
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 128
# the location where the bootloader will put the firmware
# the H743 has 128k sectors
FLASH_BOOTLOADER_LOAD_KB 128
define HAL_LED_ON 0
# Nnow some defines for logging and terrain data files.
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1
# Setup the IMU heater
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45
define HAL_IMUHEAT_P_DEFAULT 50
define HAL_IMUHEAT_I_DEFAULT 0.07
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
# supports upto 8MBits/s
CANFD_SUPPORTED 8
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16
# use last 2 pages for flash storage
# H757 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14
define HAL_STORAGE_SIZE 32768
# ADC setup
PF11 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(14)
PC0 BATT_CURRENT_SENS ADC1 SCALE(1) ANALOG(15)
PB1 AUX_POWER ADC2 SCALE(1) ANALOG(13) # AUX Volt
PF12 AUX_ADC2 ADC1 SCALE(1) ANALOG(4) # AUX Curr
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT2_VOLT_PIN 13
define HAL_BATT2_CURR_PIN 4
define HAL_BATT_VOLT_SCALE 12.02
define HAL_BATT_CURR_SCALE 39.877
PF13 VDD_5V_SENS ADC2 SCALE(2) ANALOG(18)
# And the analog input for airspeed (rarely used these days).
PF3 PRESSURE_SENS ADC3 SCALE(2) ANALOG(8)
PC3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(3) ANALOG(9)
# CAN config
PE10 GPIOCAN1_TERM OUTPUT HIGH
PG4 GPIOCAN2_TERM OUTPUT HIGH
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB5 CAN2_RX CAN2
PB6 CAN2_TX CAN2
# SPI1
PE13 BARO_0_CS CS
PE9 ICM42688_0_CS CS
PB3 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1
# SPI2
PD15 RM3100_CS CS
PD14 ICM42688_1_CS CS
PA9 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
# SPI4
PF5 ICM20649_CS CS
PC2 BARO_1_CS CS
PE12 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# Sensors
SPIDEV icm42688_0 SPI1 DEVID1 ICM42688_0_CS MODE3 2*MHZ 8*MHZ
SPIDEV ms5611_0 SPI1 DEVID2 BARO_0_CS MODE3 20*MHZ 20*MHZ
SPIDEV icm42688_1 SPI2 DEVID1 ICM42688_1_CS MODE3 2*MHZ 8*MHZ
SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm20649 SPI4 DEVID1 ICM20649_CS MODE3 4*MHZ 8*MHZ
SPIDEV ms5611_1 SPI4 DEVID2 BARO_1_CS MODE3 20*MHZ 20*MHZ
IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90
IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180
BARO MS56XX SPI:ms5611_0
BARO MS56XX SPI:ms5611_1
COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270
CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
CHECK_ICM42688_0 spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
CHECK_ICM42688_1 spi_check_register("icm42688_1", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
CHECK_MS5611_0 check_ms5611("ms5611_0")
CHECK_MS5611_1 check_ms5611("ms5611_1")
CHECK_IMU0_PRESENT $CHECK_ICM20649
CHECK_IMU1_PRESENT $CHECK_ICM42688_0
CHECK_IMU2_PRESENT $CHECK_ICM42688_1
CHECK_BARO0_PRESENT $CHECK_MS5611_0
CHECK_BARO1_PRESENT $CHECK_MS5611_1
BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT $CHECK_IMU1_PRESENT $CHECK_BARO1_PRESENT $CHECK_IMU2_PRESENT
define HAL_CHIBIOS_ARCH_FMUV3 1
define BOARD_TYPE_DEFAULT 3
# MCO output
PA8 RCC_MCO_1 OUTPUT LOW
# I2C
PF0 I2C2_SDA I2C2
PF1 I2C2_SCL I2C2
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4
I2C_ORDER I2C2 I2C4
# Ethernet
# PA1 ETH_RMII_REF_CLK ETH1
# PA2 ETH_MDIO ETH1
# PA7 ETH_RMII_CRS_DV ETH1
# PB11 ETH_RMII_TX_EN ETH1
# PB12 ETH_RMII_TXD0 ETH1
# PB13 ETH_RMII_TXD1 ETH1
# PC1 ETH_MDC ETH1
# PC4 ETH_RMII_RXD0 ETH1
# PC5 ETH_RMII_RXD1 ETH1
# define BOARD_PHY_ID MII_LAN8720_ID
# define BOARD_PHY_RMII
# RCIN
PB7 TIM4_CH2 TIM4 RCININT PULLDOWN
# QUADSPI
PD11 QUADSPI_BK1_IO0 QUADSPI1
PD12 QUADSPI_BK1_IO1 QUADSPI1
PE2 QUADSPI_BK1_IO2 QUADSPI1
PD13 QUADSPI_BK1_IO3 QUADSPI1
PB10 QUADSPI_BK1_NCS QUADSPI1
PB2 QUADSPI_CLK QUADSPI1
# SDMMC
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PD2 SDMMC1_CMD SDMMC1
# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# SWD
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# GPIO
PG5 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp.
PE15 VDD_BRICK_nVALID INPUT PULLUP
PE4 VDD_BRICK2_nVALID INPUT PULLUP
PF4 VDD_5V_HIPOWER_nOC INPUT PULLUP
PD10 VDD_5V_PERIPH_nOC INPUT PULLUP
# This is the pin to enable the sensors rail. It can be used to power
# cycle sensors to recover them in case there are problems with power on
# timing affecting sensor stability. We pull it LOW on startup, which
# means sensors off, then it is pulled HIGH in peripheral_power_enable()
PG0 VDD_3V3_SENSORS_EN OUTPUT LOW
# This defines an output pin which will default to output HIGH. It is
# a pin that enables peripheral power on this board. It starts in the
# off state, then is pulled low to enable peripherals in
# peripheral_power_enable()
PF2 nVDD_5V_PERIPH_EN OUTPUT LOW
PA0 TIM5_CH1 TIM5 GPIO(79) ALARM
PE3 VBUS_nVALID INPUT PULLUP
# upper
PG2 HEATER_EN OUTPUT LOW GPIO(81)
# lower
# PG1 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 81
# define HAL_HEATER_GPIO_PIN2 80
define HAL_HAVE_IMU_HEATER 1
# Timer
PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR
PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) BIDIR
PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR
PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53) BIDIR
PA6 TIM3_CH1 TIM3 PWM(5) GPIO(54) BIDIR
PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR
# UART
PD1 UART4_TX UART4
PD0 UART4_RX UART4
PE0 UART8_RX UART8
PE1 UART8_TX UART8
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PC6 USART6_TX USART6
PC7 USART6_RX USART6
PG15 USART6_CTS USART6
PG8 USART6_RTS USART6
# primary <-> secondary
PE7 UART7_RX UART7
PE8 UART7_TX UART7
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 EMPTY UART7
EXT_FLASH_SIZE_MB 32
INT_FLASH_PRIMARY 1
# forward Serial traffic from USB OTG2 to Serial7(UART7)
define HAL_FORWARD_OTG2_SERIAL 7
define HAL_HAVE_DUAL_USB_CDC 1
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
define DEFAULT_SERIAL7_BAUD 2000000