mirror of https://github.com/ArduPilot/ardupilot
148 lines
3.0 KiB
Plaintext
148 lines
3.0 KiB
Plaintext
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# hw definition file for processing by chibios_hwdef.py
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# for H755 - H755 is almost identical to H757, so utilizing its STM32H757xx.py file
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AUTOBUILD_TARGETS None
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# MCU class and specific type
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MCU STM32H7xx STM32H757xx
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# crystal frequency
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OSCILLATOR_HZ 8000000
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STM32_ST_USE_TIMER 5
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define CORE_CM7
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define SMPS_PWR
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# board ID for firmware load
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APJ_BOARD_ID 139
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# the nucleo seems to have trouble with flashing the last sector?
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FLASH_SIZE_KB 2048
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FLASH_BOOTLOADER_LOAD_KB 256
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FLASH_RESERVE_START_KB 256
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 UART7 USART1 UART4 UART5
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# order of UARTs and suggested uses
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# USART2 TELEM1
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# UART7 TELEM2
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# USART1 GPS
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# UART4 RCIN/OUT Telem
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# UART5 DEBUG
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# telem1 USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# telem2 UART7
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PF9 UART7_CTS UART7
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PF8 UART7_RTS UART7
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PF7 UART7_TX UART7
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PF6 UART7_RX UART7
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# GPS USART1
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PB7 USART1_RX USART1
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PB6 USART1_TX USART1
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# RCIN/OUT UART4
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PB9 UART4_TX UART4
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PB8 UART4_RX UART4
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# debug uart5
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PB13 UART5_TX UART5
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PB12 UART5_RX UART5
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# Now setup the pins for the microSD card, if available.
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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# CAN Busses
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# PWM Output
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PB1 TIM8_CH3N TIM8 PWM(1) GPIO(50)
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PA0 TIM2_CH1 TIM2 PWM(2) GPIO(51)
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)
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PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
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PA3 TIM2_CH4 TIM2 PWM(5) GPIO(54)
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PD12 TIM4_CH1 TIM4 PWM(6) GPIO(55)
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PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56)
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PD14 TIM4_CH3 TIM4 PWM(8) GPIO(57)
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PD15 TIM4_CH4 TIM4 PWM(9) GPIO(58)
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PE5 TIM15_CH1 TIM15 PWM(10) GPIO(59)
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PE6 TIM15_CH2 TIM15 PWM(11) GPIO(60)
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PA8 TIM1_CH1 TIM1 PWM(12) GPIO(61) # for WS2812 LED
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define HAL_SPI_CHECK_CLOCK_FREQ
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# sensor CS
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PC7 MPU_CS CS
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# status LEDs
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define HAL_LED_ON 0
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PB0 LED OUTPUT HIGH GPIO(0) #Green
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PE1 LED1 OUTPUT HIGH GPIO(2) #Yellow
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PB14 LED2 OUTPUT HIGH GPIO(1) #Red
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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define HAL_GPIO_LED_OFF 1
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define HAL_GPIO_LED_ON 0
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# I2C
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I2C_ORDER I2C2
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define HAL_I2C_INTERNAL_MASK 0
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# Enable FAT filesystem support (needs a microSD defined via SDMMC).
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define HAL_OS_FATFS_IO 1
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# Now some defines for logging and terrain data files.
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# barometers
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BARO BMP388 I2C:0:0x77
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# SPI1
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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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# SPI3
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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# SPI devices
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SPIDEV icm20948 SPI3 DEVID1 MPU_CS MODE3 4*MHZ 8*MHZ
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# analog in
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# probe for an invensense IMU
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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# compass as part of ICM20948 on newer cubes
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
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