mirror of https://github.com/ArduPilot/ardupilot
175 lines
4.0 KiB
Plaintext
175 lines
4.0 KiB
Plaintext
|
# hw definition file for processing by chibios_hwdef.py
|
||
|
|
#following exapmle:
|
||
|
|
#https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroH7/hwdef.dat#L105
|
||
|
|
# for H743 bootloader
|
||
|
|
|
||
|
|
# MCU class and specific type
|
||
|
|
MCU STM32H7xx STM32H743xx
|
||
|
|
|
||
|
|
# crystal frequency
|
||
|
|
OSCILLATOR_HZ 16000000
|
||
|
|
|
||
|
|
# board ID for firmware load
|
||
|
|
APJ_BOARD_ID 5200
|
||
|
|
|
||
|
|
# the nucleo seems to have trouble with flashing the last sector?
|
||
|
|
FLASH_SIZE_KB 2048
|
||
|
|
|
||
|
|
# 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 5
|
||
|
|
|
||
|
|
#optimize for space
|
||
|
|
env OPTIMIZE -Os
|
||
|
|
|
||
|
|
FLASH_RESERVE_START_KB 128
|
||
|
|
|
||
|
|
define HAL_STORAGE_SIZE 32768
|
||
|
|
|
||
|
|
# use last 2 pages for flash storage
|
||
|
|
# H743 has 16 pages of 128k each
|
||
|
|
STORAGE_FLASH_PAGE 14
|
||
|
|
|
||
|
|
# (---FUTURE REVISION---): PA0 AS VDD_SENSE_PIN
|
||
|
|
PA0 VDD_5V_SENS ADC1 SCALE(2)
|
||
|
|
|
||
|
|
# order of I2C buses
|
||
|
|
I2C_ORDER I2C1
|
||
|
|
|
||
|
|
# I2C1 (SE_CONNECTOR)
|
||
|
|
PB8 I2C1_SCL I2C1 PULLUP
|
||
|
|
PB7 I2C1_SDA I2C1 PULLUP
|
||
|
|
|
||
|
|
# USB setup
|
||
|
|
USB_STRING_MANUFACTURER "Airvolute"
|
||
|
|
|
||
|
|
# This is the pin that senses USB being connected. It is an input pin
|
||
|
|
# setup as OPENDRAIN.
|
||
|
|
PA9 VBUS INPUT OPENDRAIN
|
||
|
|
|
||
|
|
# order of UARTs (and USB)
|
||
|
|
SERIAL_ORDER OTG1 USART1 USART2 USART3
|
||
|
|
|
||
|
|
PA11 OTG_FS_DM OTG1
|
||
|
|
PA12 OTG_FS_DP OTG1
|
||
|
|
|
||
|
|
PA13 JTMS-SWDIO SWD
|
||
|
|
PA14 JTCK-SWCLK SWD
|
||
|
|
|
||
|
|
# (---FUTURE REVISION---): PWM output for buzzer
|
||
|
|
PB15 TIM12_CH2 TIM12 GPIO(80) ALARM
|
||
|
|
|
||
|
|
# (---FUTURE REVISION---): RC Input set for Interrupt not DMA
|
||
|
|
PA6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW
|
||
|
|
|
||
|
|
# UART SETUP
|
||
|
|
# USART1 (SE_CONNECTOR)
|
||
|
|
PB14 USART1_TX USART1
|
||
|
|
PA10 USART1_RX USART1
|
||
|
|
|
||
|
|
# USART2 (SE_CONNECTOR)
|
||
|
|
PD5 USART2_TX USART2
|
||
|
|
PD6 USART2_RX USART2
|
||
|
|
|
||
|
|
# USART3 (RC INPUT)
|
||
|
|
PD9 USART3_RX USART3
|
||
|
|
|
||
|
|
#LED RED
|
||
|
|
PB1 LED1 OUTPUT HIGH
|
||
|
|
#LED GREEN
|
||
|
|
PA3 FMU_LED_AMBER OUTPUT LOW GPIO(0)
|
||
|
|
|
||
|
|
# microSD 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
|
||
|
|
|
||
|
|
# CS pins for SPI sensors. The labels for all CS pins need to
|
||
|
|
# match the SPI device table later in this file.
|
||
|
|
PD12 BMI088_ACC_CS CS
|
||
|
|
PE13 BMI088_GYRO_CS CS
|
||
|
|
PD13 BMP390_CS CS
|
||
|
|
PD15 EXT_0_CS CS
|
||
|
|
PD14 EXT_1_CS CS
|
||
|
|
PD11 EXT_2_CS CS
|
||
|
|
PD10 EXT_3_CS CS
|
||
|
|
|
||
|
|
# CAN Busses
|
||
|
|
PD0 CAN1_RX CAN1
|
||
|
|
PB9 CAN1_TX CAN1
|
||
|
|
|
||
|
|
# CAN1 Silent Pin LOW Enable
|
||
|
|
PC7 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
||
|
|
|
||
|
|
PB5 CAN2_RX CAN2
|
||
|
|
PB6 CAN2_TX CAN2
|
||
|
|
|
||
|
|
# CAN2 Silent Pin LOW Enable
|
||
|
|
PC6 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
|
||
|
|
|
||
|
|
# 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
|
||
|
|
|
||
|
|
define BOARD_PHY_RMII
|
||
|
|
define BOARD_PHY_ADDRESS 0x0000
|
||
|
|
define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX
|
||
|
|
define HAL_PERIPH_ENABLE_NETWORKING
|
||
|
|
|
||
|
|
#PWM outputs
|
||
|
|
PB3 TIM2_CH2 TIM2 PWM(1) GPIO(50) BIDIR
|
||
|
|
PB10 TIM2_CH3 TIM2 PWM(2) GPIO(51)
|
||
|
|
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
|
||
|
|
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
|
||
|
|
|
||
|
|
# BMI088_DRDY
|
||
|
|
PE12 BMI088_DRDY INPUT
|
||
|
|
|
||
|
|
# (---FUTURE REVISION---) EXT IMU DRDY
|
||
|
|
PD1 EXT_IMU_DRDY INPUT
|
||
|
|
|
||
|
|
# SPI1 (ONBOARD SENSORS)
|
||
|
|
PA5 SPI1_SCK SPI1
|
||
|
|
PB4 SPI1_MISO SPI1
|
||
|
|
PD7 SPI1_MOSI SPI1
|
||
|
|
|
||
|
|
# SPI4 (EXTERNAL SENSORS)
|
||
|
|
PE2 SPI4_SCK SPI4
|
||
|
|
PE5 SPI4_MISO SPI4
|
||
|
|
PE6 SPI4_MOSI SPI4
|
||
|
|
|
||
|
|
# SPI devices
|
||
|
|
SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
|
||
|
|
SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACC_CS MODE3 10*MHZ 10*MHZ
|
||
|
|
SPIDEV bmp390 SPI1 DEVID3 BMP390_CS MODE3 5*MHZ 5*MHZ
|
||
|
|
SPIDEV icm42688_ext SPI4 DEVID4 EXT_0_CS MODE3 5*MHZ 5*MHZ
|
||
|
|
SPIDEV lis3mdl SPI4 DEVID5 EXT_1_CS MODE3 5*MHZ 5*MHZ
|
||
|
|
|
||
|
|
# Enable FAT filesystem support (needs a microSD defined via SDMMC).
|
||
|
|
define HAL_OS_FATFS_IO 1
|
||
|
|
|
||
|
|
# IMUs
|
||
|
|
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
|
||
|
|
IMU Invensense SPI:icm42688_ext ROTATION_NONE
|
||
|
|
|
||
|
|
# 1 baro
|
||
|
|
define HAL_BARO_ALLOW_INIT_NO_BARO 1
|
||
|
|
BARO BMP388 SPI:bmp390
|
||
|
|
|
||
|
|
define ALLOW_ARM_NO_COMPASS
|
||
|
|
|
||
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|