ardupilot/libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py
# for H743
# MCU class and specific type
MCU STM32H7xx STM32H743xx
env OPTIMIZE -O2
# USB setup
USB_STRING_MANUFACTURER "ArduPilot"
USB_STRING_PRODUCT "%BOARD%"
# crystal frequency
OSCILLATOR_HZ 25000000
FLASH_SIZE_KB 2048
# setup build for a peripheral firmware
env AP_PERIPH 1
define HAL_BUILD_AP_PERIPH
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 128
FLASH_BOOTLOADER_LOAD_KB 128
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256
MAIN_STACK 0x2000
PROCESS_STACK 0x6000
# board ID for firmware load
APJ_BOARD_ID 1315
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
###########################
# CAN setup
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
###########################
# UART 1 - Avionics
PA9 USART1_TX USART1
PA10 USART1_RX USART1
# UART 2 - Avionics
PD5 USART2_TX USART2
PD6 USART2_RX USART2
# UART 3 - unused, J2 (2 pin)
PC10 UART4_TX UART4
PC11 UART4_RX UART4
# UART 4 - debug console, J6 (4 pin)
PE7 UART7_RX UART7
PE8 UART7_TX UART7
# Now we define the pins that USB is connected on.
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2
#SERIAL_ORDER OTG1 USART1 USART2 OTG2
#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7
#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7 OTG2
define AP_CAN_SLCAN_ENABLED 0
###########################
# storage
###########################
define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14
###########################
# Ethernet
PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
PB12 ETH_RMII_TXD0 ETH1
PB13 ETH_RMII_TXD1 ETH1
PB11 ETH_RMII_TX_EN ETH1
PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
PA15 GPIO_ETH_ENABLE INPUT FLOATING GPIO(113)
define HAL_GPIO_ETH_ENABLE 113
define BOARD_PHY_ID MII_LAN8742A_ID
define BOARD_PHY_RMII
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define HAL_PERIPH_ENABLE_NETWORKING
###################
#Communications and debug
# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0
#################################
# Multi-purpose pins like SPI, I2C, GPIO, PWMs, LEDs, ADC
I2C_ORDER I2C4
PD12 I2C4_SCL I2C4
PD13 I2C4_SDA I2C4
# LEDs
PE11 LED1 OUTPUT LOW GPIO(3)
PE12 LED2 OUTPUT LOW GPIO(4)
define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED1
#define HAL_GPIO_PIN_LED_CAN1 HAL_GPIO_PIN_LED2
define HAL_LED_ON 1
define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE
#################################
# ---------------------------------------------------------------------------------------------
# AP_Periph - boiler-plate configurations that all HW AP-Periph need
# ---------------------------------------------------------------------------------------------
define DISABLE_SERIAL_ESC_COMM TRUE
define HAL_NO_RCIN_THREAD
#define HAL_NO_GPIO_IRQ
define HAL_DISABLE_LOOP_DELAY
define HAL_PERIPH_SHOW_SERIAL_MANAGER_PARAMS
define PERIPH_FW TRUE
#define NO_DATAFLASH TRUE
define HAL_LOGGING_ENABLED FALSE
#################################
# AP_Periph - configurations specific to this App
#################################
# listen for reboot command from uploader.py script
# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
#################################
DMA_NOSHARE USART1* USART2* CAN1*
# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
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AUTOBUILD_TARGETS None