2021-09-04 08:59:15 -03:00
|
|
|
# hw definition file for processing by chibios_pins.py
|
|
|
|
|
# for SP/Racing Extreme H7 hardware.
|
|
|
|
|
# thanks to betaflight for pin information
|
|
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32H7xx STM32H750xx
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 1060
|
|
|
|
|
|
|
|
|
|
# crystal frequency, setup to use external oscillator
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
2022-02-23 16:05:38 -04:00
|
|
|
MCU_CLOCKRATE_MHZ 480
|
|
|
|
|
|
2021-09-04 08:59:15 -03:00
|
|
|
env OPTIMIZE -O2
|
|
|
|
|
|
|
|
|
|
STM32_ST_USE_TIMER 2
|
|
|
|
|
|
|
|
|
|
# internal flash is off limits
|
|
|
|
|
FLASH_SIZE_KB 128
|
|
|
|
|
FLASH_RESERVE_START_KB 0
|
2022-02-18 17:31:53 -04:00
|
|
|
define HAL_FLASH_PROTECTION 1
|
2021-09-04 08:59:15 -03:00
|
|
|
|
|
|
|
|
EXT_FLASH_SIZE_MB 16
|
|
|
|
|
EXT_FLASH_RESERVE_START_KB 1024
|
|
|
|
|
EXT_FLASH_RESERVE_END_KB 448
|
|
|
|
|
|
|
|
|
|
# only one I2C bus
|
|
|
|
|
I2C_ORDER I2C1
|
|
|
|
|
|
|
|
|
|
# order of UARTs (and USB)
|
2022-02-13 10:37:14 -04:00
|
|
|
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 EMPTY UART8
|
2021-09-04 08:59:15 -03:00
|
|
|
|
|
|
|
|
# Buzzer - DMA timer channel use by LEDs
|
|
|
|
|
PD7 BUZZER OUTPUT GPIO(80) LOW
|
|
|
|
|
define HAL_BUZZER_PIN 80
|
|
|
|
|
define HAL_BUZZER_ON 1
|
|
|
|
|
define HAL_BUZZER_OFF 0
|
|
|
|
|
|
|
|
|
|
# USB
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
|
|
|
|
|
# Debug
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# SPI2 ICM20602 #2
|
|
|
|
|
PB12 ICM20602_2_CS CS
|
|
|
|
|
PD3 SPI2_SCK SPI2
|
|
|
|
|
PC2 SPI2_MISO SPI2
|
|
|
|
|
PC3 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
# SPI3 ICM20602 #1
|
|
|
|
|
PA15 ICM20602_1_CS CS
|
|
|
|
|
PB3 SPI3_SCK SPI3
|
|
|
|
|
PB4 SPI3_MISO SPI3
|
|
|
|
|
PD6 SPI3_MOSI SPI3
|
|
|
|
|
|
|
|
|
|
# SPI4 for OSD
|
|
|
|
|
PE11 AT7456E_CS CS
|
|
|
|
|
PE12 SPI4_SCK SPI4
|
|
|
|
|
PE13 SPI4_MISO SPI4
|
|
|
|
|
PE14 SPI4_MOSI SPI4
|
|
|
|
|
|
|
|
|
|
# I2C1 for baro
|
|
|
|
|
PB8 I2C1_SCL I2C1 PULLUP
|
|
|
|
|
PB9 I2C1_SDA I2C1 PULLUP
|
|
|
|
|
|
|
|
|
|
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
|
|
|
PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
|
|
|
|
|
|
PC4 RSSI_IN ADC1
|
|
|
|
|
define BOARD_RSSI_ANA_PIN 0
|
|
|
|
|
|
|
|
|
|
# define default battery setup
|
|
|
|
|
define HAL_BATT_VOLT_PIN 13
|
|
|
|
|
define HAL_BATT_CURR_PIN 12
|
|
|
|
|
define HAL_BATT_VOLT_SCALE 10.9
|
|
|
|
|
define HAL_BATT_CURR_SCALE 28.5
|
|
|
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
|
|
|
|
|
|
|
|
PC5 RSSI_ADC ADC1
|
|
|
|
|
|
|
|
|
|
# USART1
|
|
|
|
|
PB15 USART1_RX USART1
|
|
|
|
|
PB14 USART1_TX USART1
|
|
|
|
|
|
|
|
|
|
# USART2 (RCIN)
|
|
|
|
|
PD5 USART2_TX USART2
|
|
|
|
|
define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
|
|
|
|
|
|
|
|
|
|
# USART3
|
|
|
|
|
PD9 USART3_RX USART3
|
|
|
|
|
PD8 USART3_TX USART3
|
|
|
|
|
|
|
|
|
|
# UART4
|
|
|
|
|
PD0 UART4_RX UART4
|
|
|
|
|
PD1 UART4_TX UART4
|
|
|
|
|
|
|
|
|
|
# UART5
|
|
|
|
|
PB5 UART5_RX UART5
|
|
|
|
|
PB13 UART5_TX UART5
|
|
|
|
|
|
2022-02-13 10:37:14 -04:00
|
|
|
# UART6
|
|
|
|
|
PC7 USART6_RX USART6 ALT(1)
|
|
|
|
|
PC6 USART6_TX USART6 ALT(1)
|
|
|
|
|
|
2021-09-04 08:59:15 -03:00
|
|
|
# UART8
|
|
|
|
|
PE0 UART8_RX UART8
|
|
|
|
|
PE1 UART8_TX UART8
|
|
|
|
|
|
|
|
|
|
# SD card
|
|
|
|
|
PC8 SDMMC1_D0 SDMMC1
|
|
|
|
|
PC9 SDMMC1_D1 SDMMC1
|
|
|
|
|
PC10 SDMMC1_D2 SDMMC1
|
|
|
|
|
PC11 SDMMC1_D3 SDMMC1
|
|
|
|
|
PC12 SDMMC1_CK SDMMC1
|
|
|
|
|
PD2 SDMMC1_CMD SDMMC1
|
|
|
|
|
|
|
|
|
|
# QuadSPI Flash
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
# Motors
|
|
|
|
|
PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1
|
|
|
|
|
PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2
|
|
|
|
|
PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3
|
|
|
|
|
PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4
|
|
|
|
|
|
|
|
|
|
PB6 TIM4_CH1 TIM4 PWM(5) GPIO(54) # M5
|
|
|
|
|
PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
|
|
|
|
|
|
|
|
|
|
PC6 TIM8_CH1 TIM8 PWM(7) GPIO(56) # M7
|
|
|
|
|
PC7 TIM8_CH2 TIM8 PWM(8) GPIO(57) # M8
|
|
|
|
|
|
|
|
|
|
PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9
|
|
|
|
|
PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # M10
|
|
|
|
|
|
2022-02-13 10:37:14 -04:00
|
|
|
# Motor outputs on the stacking connector
|
|
|
|
|
#PA6 TIM3_CH1 TIM3 PWM(1) GPIO(61) # M11
|
|
|
|
|
#PA7 TIM3_CH2 TIM3 PWM(2) GPIO(62) # M12
|
|
|
|
|
#PB0 TIM3_CH3 TIM3 PWM(3) GPIO(63) # M13
|
|
|
|
|
#PB1 TIM3_CH4 TIM3 PWM(4) GPIO(64) # M14
|
|
|
|
|
|
2021-09-04 08:59:15 -03:00
|
|
|
# NeoPixel LED strip
|
|
|
|
|
PA8 TIM1_CH1 TIM1 PWM(11) GPIO(60)
|
|
|
|
|
PE3 LED0 OUTPUT LOW GPIO(90) # Blue LED
|
|
|
|
|
|
|
|
|
|
# spi devices
|
|
|
|
|
SPIDEV icm20602_1 SPI3 DEVID1 ICM20602_1_CS MODE3 2*MHZ 10*MHZ
|
|
|
|
|
SPIDEV icm20602_2 SPI2 DEVID2 ICM20602_2_CS MODE3 2*MHZ 10*MHZ
|
|
|
|
|
SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
|
|
|
|
|
|
DMA_PRIORITY SPI3* SPI2* TIM5*
|
|
|
|
|
|
|
|
|
|
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
|
|
|
|
|
define ALLOW_ARM_NO_COMPASS
|
|
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
|
|
|
|
|
|
# two IMUs
|
|
|
|
|
IMU Invensense SPI:icm20602_1 ROTATION_YAW_90
|
|
|
|
|
IMU Invensense SPI:icm20602_2 ROTATION_YAW_135
|
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 3
|
|
|
|
|
|
|
|
|
|
# one BARO
|
|
|
|
|
BARO BMP388 I2C:0:0x76
|
|
|
|
|
|
|
|
|
|
# setup for OSD
|
|
|
|
|
define OSD_ENABLED 1
|
|
|
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
|
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
|
|
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
|
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
|
|
|
|
|
|
define BOARD_PWM_COUNT_DEFAULT 11
|
|
|
|
|
define STM32_PWM_USE_ADVANCED TRUE
|
|
|
|
|
|
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
