2023-06-07 21:28:16 -03:00
|
|
|
# hw definition file for processing by chibios_hwdef.py
|
|
|
|
|
# for FlyingmoonH743 hardware
|
|
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 1112
|
|
|
|
|
|
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
|
define HAL_STORAGE_SIZE 32768
|
|
|
|
|
|
|
|
|
|
# bootloader takes first sector
|
|
|
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
|
|
|
|
|
|
env OPTIMIZE -O2
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
|
|
|
|
|
|
# this is the STM32 timer that ChibiOS will use for the low level
|
|
|
|
|
# driver. This must be a 32 bit timer. We currently only support
|
|
|
|
|
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
|
|
|
|
|
|
|
|
|
|
# ChibiOS system timer
|
|
|
|
|
STM32_ST_USE_TIMER 2
|
|
|
|
|
|
|
|
|
|
PA11 OTG_FS_DM OTG1
|
|
|
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
|
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# this is the pin that senses USB being connected. It is an input pin
|
|
|
|
|
# setup as OPENDRAIN
|
|
|
|
|
PA9 VBUS INPUT OPENDRAIN
|
|
|
|
|
|
|
|
|
|
# The normal usage of this ordering is:
|
|
|
|
|
# 1) SERIAL0: console (primary mavlink, usually USB)
|
|
|
|
|
# 2) SERIAL1: telem1
|
|
|
|
|
# 5) SERIAL2: telem2
|
|
|
|
|
# 3) SERIAL3: primary GPS1
|
|
|
|
|
# 4) SERIAL4: second GPS2
|
|
|
|
|
# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)
|
|
|
|
|
|
|
|
|
|
SERIAL_ORDER OTG1 USART1 UART4 USART2 USART3 UART5
|
|
|
|
|
|
|
|
|
|
# USART1 for telem1
|
|
|
|
|
PB6 USART1_TX USART1
|
|
|
|
|
PB7 USART1_RX USART1
|
|
|
|
|
|
|
|
|
|
# USART2 for primary GPS1
|
|
|
|
|
PD5 USART2_TX USART2 NODMA
|
|
|
|
|
PD6 USART2_RX USART2
|
|
|
|
|
|
|
|
|
|
# USART3 for second GPS2
|
|
|
|
|
PD8 USART3_TX USART3 NODMA
|
|
|
|
|
PD9 USART3_RX USART3
|
|
|
|
|
|
|
|
|
|
# UART4 for telem2
|
|
|
|
|
PC10 UART4_TX UART4 NODMA
|
|
|
|
|
PC11 UART4_RX UART4 NODMA
|
|
|
|
|
|
|
|
|
|
# UART5
|
|
|
|
|
PC12 UART5_TX UART5 NODMA
|
|
|
|
|
PD2 UART5_RX UART5 NODMA
|
|
|
|
|
|
|
|
|
|
# CAN Busses 1
|
|
|
|
|
PD0 CAN1_RX CAN1
|
|
|
|
|
PD1 CAN1_TX CAN1
|
|
|
|
|
|
|
|
|
|
# CAN Busses 2
|
|
|
|
|
PB12 CAN2_RX CAN2
|
|
|
|
|
PB13 CAN2_TX CAN2
|
|
|
|
|
|
2024-07-26 00:07:31 -03:00
|
|
|
# SPI1 for IMU
|
2023-06-07 21:28:16 -03:00
|
|
|
PA5 SPI1_SCK SPI1
|
|
|
|
|
PA6 SPI1_MISO SPI1
|
|
|
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
PB0 ICM20689_CS CS
|
|
|
|
|
PB1 ICM42605_CS CS
|
|
|
|
|
PB2 ICM20649_CS CS
|
|
|
|
|
PA4 RM3100_CS CS
|
|
|
|
|
|
|
|
|
|
# SPI bus for dataflash AND SD
|
|
|
|
|
PD3 SPI2_SCK SPI2
|
|
|
|
|
PB14 SPI2_MISO SPI2
|
|
|
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
PA10 FRAM_CS CS SPEED_VERYLOW
|
|
|
|
|
PE15 FLASH_CS CS
|
|
|
|
|
|
|
|
|
|
# SPI3 bus for reserve
|
|
|
|
|
PB3 SPI3_SCK SPI3
|
|
|
|
|
PB4 SPI3_MISO SPI3
|
|
|
|
|
PB5 SPI3_MOSI SPI3
|
|
|
|
|
|
|
|
|
|
SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
|
2023-10-24 04:47:17 -03:00
|
|
|
SPIDEV icm20649 SPI1 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
|
SPIDEV icm42605 SPI1 DEVID3 ICM42605_CS MODE3 2*MHZ 8*MHZ
|
2024-04-10 02:36:18 -03:00
|
|
|
SPIDEV rm3100 SPI1 DEVID4 RM3100_CS MODE3 1*MHZ 1*MHZ
|
2023-06-07 21:28:16 -03:00
|
|
|
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
|
SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ
|
|
|
|
|
|
|
|
|
|
# Three IMUs
|
|
|
|
|
IMU Invensense SPI:icm20689 ROTATION_NONE
|
|
|
|
|
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
|
2023-10-24 04:47:17 -03:00
|
|
|
IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_90
|
2023-06-07 21:28:16 -03:00
|
|
|
|
|
|
|
|
# Two baro
|
|
|
|
|
BARO SPL06 I2C:0:0x76
|
|
|
|
|
BARO MS56XX I2C:0:0x77
|
|
|
|
|
|
|
|
|
|
# compass
|
|
|
|
|
COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
|
|
|
|
|
|
|
|
|
|
# also probe external compasses
|
|
|
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
|
|
|
|
|
|
# enable RAMTROM parameter storage
|
|
|
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
|
# enable FAT filesystem support
|
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
|
|
|
|
|
|
# define the order that I2C buses
|
|
|
|
|
I2C_ORDER I2C1 I2C2
|
|
|
|
|
PB8 I2C1_SCL I2C1
|
|
|
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
|
PB10 I2C2_SCL I2C2
|
|
|
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
|
|
|
|
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
|
|
|
|
|
|
|
|
# PWM out pins
|
|
|
|
|
PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50)
|
|
|
|
|
PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
|
|
|
|
|
PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
|
|
|
|
|
PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
|
|
|
|
|
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
|
|
|
|
|
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
|
|
|
|
|
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
|
|
|
|
|
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
|
|
|
|
|
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
|
|
|
|
|
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
|
|
|
|
|
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
|
|
|
|
|
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
|
|
|
|
|
PC7 TIM3_CH2 TIM3 PWM(13) GPIO(62) NODMA
|
|
|
|
|
PC8 TIM3_CH3 TIM3 PWM(14) GPIO(63) NODMA
|
|
|
|
|
PC9 TIM3_CH4 TIM3 PWM(15) GPIO(64) NODMA
|
|
|
|
|
|
|
|
|
|
PC15 EXTERN_GPIO1 OUTPUT GPIO(1)
|
|
|
|
|
PC14 EXTERN_GPIO2 OUTPUT GPIO(2)
|
|
|
|
|
PC13 EXTERN_GPIO3 OUTPUT GPIO(3)
|
|
|
|
|
PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
|
|
|
|
|
PE4 EXTERN_GPIO5 OUTPUT GPIO(5)
|
|
|
|
|
define RELAY1_PIN_DEFAULT 1
|
|
|
|
|
define RELAY2_PIN_DEFAULT 2
|
|
|
|
|
define RELAY3_PIN_DEFAULT 3
|
|
|
|
|
define RELAY4_PIN_DEFAULT 4
|
|
|
|
|
define RELAY5_PIN_DEFAULT 5
|
|
|
|
|
|
|
|
|
|
# also USART6_RX for serial RC
|
|
|
|
|
PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW DMA_CH0
|
|
|
|
|
|
|
|
|
|
# LED setup is similar to PixRacer
|
2024-07-09 00:19:56 -03:00
|
|
|
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
|
2023-06-07 21:28:16 -03:00
|
|
|
PE3 LED_RED OUTPUT GPIO(10)
|
|
|
|
|
PE2 LED_GREEN OUTPUT GPIO(11)
|
|
|
|
|
PE1 LED_BLUE OUTPUT GPIO(12)
|
|
|
|
|
PE0 LED_YELOW OUTPUT GPIO(13)
|
|
|
|
|
|
2024-07-09 00:19:56 -03:00
|
|
|
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 10
|
|
|
|
|
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 11
|
|
|
|
|
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12
|
2023-06-07 21:28:16 -03:00
|
|
|
|
|
|
|
|
# analog in
|
|
|
|
|
PC0 PRESSURE_SENS ADC1 SCALE(2)
|
|
|
|
|
PC1 RSSI_IN ADC1 SCALE(2)
|
|
|
|
|
|
|
|
|
|
# define the primary battery connectors.
|
|
|
|
|
PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
|
|
|
|
|
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
|
|
|
|
|
PC4 VDD_5V_SENS ADC1 SCALE(2)
|
|
|
|
|
PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(4)
|
|
|
|
|
|
|
|
|
|
define HAL_BATT_VOLT_PIN 13
|
|
|
|
|
define HAL_BATT_CURR_PIN 12
|
|
|
|
|
define HAL_BATT_VOLT_SCALE 22
|
|
|
|
|
define HAL_BATT_CURR_SCALE 55.55
|
|
|
|
|
define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
|
PE7 LED_SAFETY OUTPUT
|
|
|
|
|
PE8 SAFETY_IN INPUT PULLDOWN
|
|
|
|
|
|
|
|
|
|
# PWM output for buzzer
|
|
|
|
|
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
|
