ardupilot/libraries/AP_HAL_ChibiOS/hwdef/BotBloxDroneNet/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py
# for the BotBloxSwitch hardware
# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN
# MCU class and specific type
MCU STM32H7xx STM32H723xx
# crystal frequency
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OSCILLATOR_HZ 16000000
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# setup build for a peripheral bootloader
env AP_PERIPH 1
# board ID for firmware load
APJ_BOARD_ID AP_HW_BotBloxSwitch
FLASH_RESERVE_START_KB 128
define HAL_STORAGE_SIZE 32768
# use last 2 pages for flash storage
# H723 has 8 pages of 128k each
STORAGE_FLASH_PAGE 6
# flash size
FLASH_SIZE_KB 1024
env OPTIMIZE -Os
# pins for SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# USB
PA11 OTG_HS_DM OTG1
PA12 OTG_HS_DP OTG1
PA9 VBUS INPUT OPENDRAIN
# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
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#PD4 USART2_DE USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
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PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD12 USART3_RTS USART3
PD11 USART3_CTS USART3
# LEDs
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PC0 LED_STT1 OUTPUT OPENDRAIN HIGH
PA4 LED_STT2 OUTPUT OPENDRAIN HIGH
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define HAL_LED_ON 0
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# use first LED
define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED_STT1
# Ethernet switch chip reset pin
PD13 GPIO_ETH_RST OUTPUT HIGH PULLUP
# CAN1 standby GPIO
PA0 GPIO_CAN_S OUTPUT LOW PULLUP
# GPIO/PWMs
#PC6 TIM3_CH1 TIM3 PWM(1) GPIO(100)
#PB14 TIM12_CH1 TIM12 PWM(2) GPIO(101)
#PB15 TIM12_CH2 TIM12 PWM(3) GPIO(102)
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PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
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PB12 ETH_RMII_TXD0 ETH1
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PB13 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
define BOARD_PHY_ADDRESS 5
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define BOARD_PHY_RMII
# auto-negotiation doesn't work, force 100MBit full duplex
define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX
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define HAL_PERIPH_ENABLE_NETWORKING
define AP_NETWORKING_MAX_INSTANCES 4
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# allow load from USB
SERIAL_ORDER OTG1 USART3
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define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
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define HAL_USE_ADC FALSE
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define AP_SERIALMANAGER_REGISTER_ENABLED 1
define AP_SCRIPTING_ENABLED 1
define AP_FILESYSTEM_ROMFS_ENABLED 1
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# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the network enabled bootloader at runtime
env ROMFS_UNCOMPRESSED True
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include ../include/network_PPPGW.inc
define HAL_MONITOR_THREAD_ENABLED 1