# hw definition file for processing by chibios_pins.py # for SP/Racing Extreme H7 hardware. # thanks to betaflight for pin information # MCU class and specific type MCU STM32H7xx STM32H750xx # board ID for firmware load APJ_BOARD_ID 1060 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 MCU_CLOCKRATE_MHZ 480 env OPTIMIZE -O2 define HAL_WITH_EKF_DOUBLE 0 STM32_ST_USE_TIMER 2 # internal flash is off limits FLASH_SIZE_KB 128 FLASH_RESERVE_START_KB 0 define HAL_FLASH_PROTECTION 1 EXT_FLASH_SIZE_MB 16 EXT_FLASH_RESERVE_START_KB 1024 EXT_FLASH_RESERVE_END_KB 448 # only one I2C bus I2C_ORDER I2C1 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 EMPTY UART8 # Buzzer - DMA timer channel use by LEDs PD7 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # Debug PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI2 ICM20602 #2 PB12 ICM20602_2_CS CS PD3 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 # SPI3 ICM20602 #1 PA15 ICM20602_1_CS CS PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PD6 SPI3_MOSI SPI3 # SPI4 for OSD PE11 AT7456E_CS CS PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 # I2C1 for baro PB8 I2C1_SCL I2C1 PULLUP PB9 I2C1_SDA I2C1 PULLUP # Internal current sensor PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC0 BATT_CURRENT_SENS ADC1 SCALE(1) # External current sensor PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1) # analog pin 8 # VTX Power control - should be high at startup to ensure power PB01 VTX_PWR OUTPUT HIGH GPIO(81) define RELAY2_PIN_DEFAULT 81 PC4 RSSI_IN ADC1 define BOARD_RSSI_ANA_PIN 0 # define default battery setup define HAL_BATT_VOLT_PIN 11 define HAL_BATT_CURR_PIN 10 define HAL_BATT_VOLT_SCALE 10.9 define HAL_BATT_CURR_SCALE 28.5 define HAL_BATT_MONITOR_DEFAULT 4 # USART1 (RCIN) PB15 USART1_RX USART1 PB14 USART1_TX USART1 define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN # USART2 (SmartPort) PD5 USART2_TX USART2 # USART3 PD9 USART3_RX USART3 PD8 USART3_TX USART3 # UART4 PD0 UART4_RX UART4 PD1 UART4_TX UART4 # UART5 PB5 UART5_RX UART5 PB13 UART5_TX UART5 # UART6 PC7 USART6_RX USART6 ALT(1) PC6 USART6_TX USART6 ALT(1) # UART8 PE0 UART8_RX UART8 PE1 UART8_TX UART8 # SD 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 # QuadSPI Flash PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH PE2 QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH PD13 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH PB10 QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH PB2 QUADSPI_CLK QUADSPI1 SPEED_HIGH # Motors PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1 PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2 PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3 PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4 PB6 TIM4_CH1 TIM4 PWM(5) GPIO(54) # M5 PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6 PC6 TIM8_CH1 TIM8 PWM(7) GPIO(56) # M7 PC7 TIM8_CH2 TIM8 PWM(8) GPIO(57) # M8 PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9 PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # M10 # Motor outputs on the stacking connector #PA6 TIM3_CH1 TIM3 PWM(1) GPIO(61) # M11 #PA7 TIM3_CH2 TIM3 PWM(2) GPIO(62) # M12 #PB0 TIM3_CH3 TIM3 PWM(3) GPIO(63) # M13 #PB1 TIM3_CH4 TIM3 PWM(4) GPIO(64) # M14 # NeoPixel LED strip PA8 TIM1_CH1 TIM1 PWM(11) GPIO(60) # Red LED PE3 LED0 OUTPUT LOW GPIO(90) # spi devices SPIDEV icm20602_1 SPI3 DEVID1 ICM20602_1_CS MODE3 2*MHZ 10*MHZ SPIDEV icm20602_2 SPI2 DEVID2 ICM20602_2_CS MODE3 2*MHZ 10*MHZ SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ DMA_PRIORITY SPI3* SPI2* TIM5* define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define ALLOW_ARM_NO_COMPASS define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 # two IMUs IMU Invensense SPI:icm20602_1 ROTATION_YAW_90 IMU Invensense SPI:icm20602_2 ROTATION_YAW_135 define HAL_DEFAULT_INS_FAST_SAMPLE 3 # one BARO BARO BMP388 I2C:0:0x76 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin define HAL_OS_FATFS_IO 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" define BOARD_PWM_COUNT_DEFAULT 11 define STM32_PWM_USE_ADVANCED TRUE define HAL_STORAGE_SIZE 16384 define DEFAULT_NTF_LED_TYPES 257