mirror of https://github.com/ArduPilot/ardupilot
196 lines
4.4 KiB
Plaintext
196 lines
4.4 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for FLYWOOH743 hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_FlywooH743Pro
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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MCU_CLOCKRATE_MHZ 480
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FLASH_SIZE_KB 2048
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 384
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# SPI devices
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# SPI1 (IMU1)
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2 (OSD)
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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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# SPI3 (External)
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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# SPI4 (IMU2)
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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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# Chip select pins
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PB12 OSD1_CS CS
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PC15 GYRO1_CS CS
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PE11 GYRO2_CS CS
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# Beeper
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PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
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# SERIAL ports
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 (RX)
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
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# USART3
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3 NODMA
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# UART4 (GPS1)
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PB8 UART4_RX UART4
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PB9 UART4_TX UART4
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
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# USART6
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
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# UART7
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# UART8 (DJI/MSP)
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_MSP_DisplayPort
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# I2C ports
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I2C_ORDER I2C1 I2C2
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# I2C1
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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BARO SPL06 I2C:1:0x76
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_SPL06_ENABLED 1
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# ADC ports
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# ADC1
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_VOLT_SCALE 11.0
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_CURR_SCALE 40.0
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 8
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define HAL_BATT_MONITOR_DEFAULT 4
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PC4 PRESSURE_SENS ADC1 SCALE(2)
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define HAL_DEFAULT_AIRSPEED_PIN 4
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# MOTORS
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # M1
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2
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PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) BIDIR # M3
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PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53) # M4
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PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR # M5
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR # M7
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) # M8
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) BIDIR # S9
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # S10
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PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA # S11
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PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA # S12
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# LEDs
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PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # S13
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# VTX Power control - should be high at startup to ensure power
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PD10 VTX_PWR OUTPUT HIGH GPIO(81)
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define RELAY2_PIN_DEFAULT 81
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# Camera switch control - should be high at startup to ensure Camera 1 selected
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PD11 CAM_CTRL OUTPUT HIGH GPIO(82)
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define RELAY3_PIN_DEFAULT 82
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PE3 LED0 OUTPUT LOW GPIO(90)
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define HAL_GPIO_A_LED_PIN 90
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PE4 LED1 OUTPUT LOW GPIO(91)
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define HAL_GPIO_B_LED_PIN 91
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define AP_NOTIFY_GPIO_LED_2_ENABLED 1
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# OSD setup
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SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# IMU setup
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# IMU setup
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SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ
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SPIDEV imu2 SPI4 DEVID1 GYRO2_CS MODE3 1*MHZ 16*MHZ
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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define HAL_OS_FATFS_IO 1
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IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
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IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_90
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DMA_NOSHARE TIM3_UP TIM5_UP TIM4_UP SPI1* SPI4*
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DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1* SPI4*
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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