mirror of https://github.com/ArduPilot/ardupilot
132 lines
2.7 KiB
Plaintext
132 lines
2.7 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for H757
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# MCU class and specific type
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MCU STM32H7xx STM32H757xx
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define CORE_CM7
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define SMPS_PWR
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FLASH_SIZE_KB 2048
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APJ_BOARD_ID 1043
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# the location where the bootloader will put the firmware
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# the H757 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 256
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FLASH_RESERVE_START_KB 256
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# use last 2 pages for flash storage
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# H757 has 16 pages of 128k each
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STORAGE_FLASH_PAGE 14
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define HAL_STORAGE_SIZE 32768
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# crystal frequency
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OSCILLATOR_HZ 24000000
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CANFD_SUPPORTED 8
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STDOUT_SERIAL SD6
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STDOUT_BAUDRATE 57600
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PC6 USART6_TX USART6
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PB6 USART1_TX USART1 GPIO(7)
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PB7 USART1_RX USART1 GPIO(8)
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PD5 USART2_TX USART2 GPIO(9)
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PD6 USART2_RX USART2 GPIO(10)
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PA11 UART4_RX UART4
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PA12 UART4_TX UART4
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define GPIO_USART1_TX 7
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define GPIO_USART1_RX 8
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define GPIO_USART2_TX 9
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define GPIO_USART2_RX 10
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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SERIAL_ORDER USART1 UART4 UART8 USART2
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define DRONEID_MODULE_PORT 2
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define DRONEID_MODULE_CHAN MAVLINK_COMM_0
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define AP_UART_MONITOR_ENABLED 1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# RCInput
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PB15 TIM12_CH2 TIM12 RCININT PULLDOWN LOW
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# RCOutput
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PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) # shared with channel 1
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PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) # shared with channel 3
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PC7 TIM3_CH2 TIM3 PWM(5) GPIO(54) BIDIR
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PC8 TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR
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PC9 TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR
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PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57) BIDIR
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# enable CAN support
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PD2 SLEEPCAN1 OUTPUT PUSHPULL SPEED_LOW LOW
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PD3 TERMCAN1 OUTPUT HIGH GPIO(3)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW LOW
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PB11 TERMCAN2 OUTPUT HIGH GPIO(4)
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define AP_OPENDRONEID_ENABLED 1
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB2 SPI3_MOSI SPI3
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PB1 MAG_CS CS
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SPIDEV rm3100 SPI3 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
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define AP_RM3100_REVERSAL_MASK 4
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# HOTSHOE pin repurposed for BATT Voltage Sens
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PA1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA8 ICM_CS CS
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PA9 BARO_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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SPIDEV icm42688 SPI1 DEVID4 ICM_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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BARO MS56XX SPI:ms5611
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 5
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# WS2812 LED
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PB8 TIM4_CH3 TIM4 PWM(9)
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PB9 TIM4_CH4 TIM4 PWM(10)
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PD11 GPS_TP1 OUTPUT LOW GPIO(5)
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PD7 GPS_PPS INPUT PULLUP GPIO(6)
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define CONFIGURE_PPS_PIN TRUE
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define HAL_GPIO_PPS 6
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PD12 GPS_SAFEBOOT_N INPUT FLOATING GPIO(11)
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define GPIO_UBX_SAFEBOOT 11
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PD13 GPS_RESET_N INPUT FLOATING GPIO(12)
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define GPIO_UBX_RESET 12
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define HAL_EARLY_WATCHDOG_INIT
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