# LUMINOUS BEE 5.1 # hw definition file for processing by chibios_hwdef.py # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID 1029 # crystal frequency OSCILLATOR_HZ 24000000 # flash size FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 FLASH_RESERVE_START_KB 128 define HAL_STORAGE_SIZE 16384 # only one I2C bus I2C_ORDER I2C1 define HAL_I2C_INTERNAL_MASK 0 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7 # UART4 is GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 # Battery & current control PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT_CURRENT_SENS ADC1 SCALE(1) PA4 VDD_5V_SENS ADC1 SCALE(2) # SPI1 is sensors bus PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # This is the pin that senses USB being connected. It is an input pin # setup as OPENDRAIN. PA9 VBUS INPUT #OPENDRAIN # Now we define the pins that USB is connected on. PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # These are the pins for SWD debugging with a STlinkv2 or black-magic probe. PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PWM output for buzzer PA15 TIM2_CH1 TIM2 GPIO(77) ALARM PB2 BOOT1 INPUT #PB5 VDD_BRICK_VALID INPUT PB5 VDD_BRICK_VALID INPUT PULLDOWN # USART1 TX now as led strip control PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # PB6 # PB6 USART1_TX USART1 PB7 USART1_RX USART1 # UWB DW1000 PB4 UWB_CS CS PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # SPI2 is FRAM PB10 SPI2_SCK SPI2 PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 #PC0 VBUS_VALID INPUT PC0 VBUS_VALID INPUT PULLDOWN #BMI088 CS PC2 BMI088_ACCEL_CS CS PC15 BMI088_GYRO_CS CS PC3 LED_SAFETY OUTPUT PC4 SAFETY_IN INPUT PULLDOWN PC5 VDD_PERIPH_EN OUTPUT HIGH PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC # Now setup the pins for the microSD card, if available. PC8 SDMMC1_D0 SDMMC1 PC9 SDMMC1_D1 SDMMC1 PC10 SDMMC1_D2 SDMMC1 PC11 SDMMC1_D3 SDMMC1 PC12 SDMMC1_CK SDMMC1 PD2 SDMMC1_CMD SDMMC1 PC13 SBUS_INV OUTPUT PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 # USART2 serial2 telem1 PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD7 BARO_CS CS # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 # The CS pin for FRAM (ramtron). This one is marked as using # SPEED_VERYLOW, which matches the HAL_PX4 setup. PD10 FRAM_CS CS SPEED_VERYLOW PD15 20608_DRDY INPUT # IMU Luminous Bee # UART8 serial4 FrSky PE0 UART8_RX UART8 PE1 UART8_TX UART8 #set up SPI bus4 for UWB PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 PE3 VDD_SENSORS_EN OUTPUT HIGH PE4 SPEKTRUM_PWR OUTPUT HIGH # UART7 is debug PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) #52 PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) #50 PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) #53 PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53) #51 PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) PE12 MAG_DRDY INPUT PE15 MAG_CS CS # SPI device table. The DEVID values are chosen to match the PX4 port # of ArduPilot so users don't need to re-do their accel and compass calibrations # when moving to ChibiOS # SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ #SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV dwm1000 SPI4 DEVID5 UWB_CS MODE0 3*MHZ 20*MHZ define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" define HAL_STORAGE_SIZE 16384 # enable RAMTROM parameter storage define HAL_WITH_RAMTRON 1 # fallback to flash is no FRAM fitted #define STORAGE_FLASH_PAGE 22 # Enable FAT filesystem support (needs a microSD defined via SDMMC). define HAL_OS_FATFS_IO 1 # pixracer has 3 LEDs, Red, Green, Blue define HAL_HAVE_PIXRACER_LED define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 # LED setup for PixracerLED driver PB11 LED_RED OUTPUT GPIO(0) PB1 LED_GREEN OUTPUT GPIO(1) PB3 LED_BLUE OUTPUT GPIO(2) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 # battery setup define HAL_BATT_VOLT_PIN 14 define HAL_BATT_CURR_PIN 15 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 # setup serial port defaults for ESP8266 define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink define HAL_SERIAL5_BAUD 921600 # two IMUs #IMU Invensense SPI:icm20608 ROTATION_YAW_180 IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # 2 compasses. R15 has LIS3MDL instead of HMC5843 COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180 #COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE #COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90 # also probe all types of external I2C compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES # TWO barometer BARO DPS280 SPI:dps310