# hw definition file for processing by chibios_hwdef.py DEFAULTGPIO OUTPUT LOW PULLDOWN # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 16000000 # board ID for firmware load APJ_BOARD_ID 1123 FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 # bootloader takes first sector FLASH_RESERVE_START_KB 128 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 EMPTY USART1 UART4 EMPTY UART7 OTG2 # default the 2nd interface to MAVLink2 define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 define HAL_STORAGE_SIZE 32768 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # debug pins PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 - internal sensors PG11 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 # SPI2 - FRAM PI1 SPI2_SCK SPI2 PI2 SPI2_MISO SPI2 PI3 SPI2_MOSI SPI2 # SPI4 - sensors2 PE2 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # sensor CS PF10 MS5611_CS CS PF2 ICM20689_CS CS PF4 BMI088_G_CS CS PG10 BMI088_A_CS CS PF5 FRAM_CS CS SPEED_VERYLOW # I2C buses # I2C1 is on GPS port PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # I2C on uart4 connector PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 # I2C for onboard mag PH7 I2C3_SCL I2C3 PH8 I2C3_SDA I2C3 # I2C4 is on external2 PF14 I2C4_SCL I2C4 PF15 I2C4_SDA I2C4 # order of I2C buses I2C_ORDER I2C3 I2C1 I2C2 I2C4 define HAL_I2C_INTERNAL_MASK 1 # enable pins PE3 VDD_3V3_SENSORS_EN OUTPUT LOW PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH # drdy pins PB4 DRDY_ICM20689 INPUT PB14 DRDY_BMI088_GYRO INPUT PB15 DRDY_BMI088_ACC INPUT PD15 DRDY7_EXTERNAL INPUT # UARTs # USART2 is telem1 PD6 USART2_RX USART2 PD5 USART2_TX USART2 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 # USART1 is GPS1 PB7 USART1_RX USART1 NODMA PB6 USART1_TX USART1 NODMA # UART4 GPS2 PD0 UART4_RX UART4 NODMA PD1 UART4_TX UART4 NODMA # UART7 is debug PF6 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # UART8 is for IOMCU PE0 UART8_RX UART8 PE1 UART8_TX UART8 # UART for IOMCU IOMCU_UART UART8 # PWM AUX channels PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) # PWM output for buzzer PE5 TIM15_CH1 TIM15 GPIO(77) ALARM # analog in PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA1 BATT_CURRENT_SENS ADC1 SCALE(1) PC0 VDD_5V_SENS ADC1 SCALE(2) PC1 SCALED_V3V3 ADC1 SCALE(2) # voltage divider 1/(16.9/(33+16.9)) define HAL_IOMCU_VSERVO_SCALAR 1 / (16.9 / (33 + 16.9)) # CAN bus PI9 CAN1_RX CAN1 PH13 CAN1_TX CAN1 PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) # GPIOs PA7 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 80 define HAL_HAVE_IMU_HEATER 1 define HAL_IMU_TEMP_DEFAULT 45 PH5 AUX_CS CS PG1 VDD_BRICK_nVALID INPUT PULLUP PG2 VDD_BRICK2_nVALID INPUT PULLUP PA9 VBUS INPUT PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP PE15 VDD_5V_PERIPH_nOC INPUT PULLUP PB10 nSPI5_RESET_EXTERNAL OUTPUT HIGH # SPI devices SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ SPIDEV bmi088_g SPI1 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI1 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # Two IMUs IMU Invensense SPI:icm20689 ROTATION_NONE IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 3 # microSD support PC8 SDMMC1_D0 SDMMC1 PC9 SDMMC1_D1 SDMMC1 PC10 SDMMC1_D2 SDMMC1 PC11 SDMMC1_D3 SDMMC1 PC12 SDMMC1_CK SDMMC1 PD2 SDMMC1_CMD SDMMC1 # red LED PB1 LED_RED OUTPUT GPIO(90) # green LED PC6 LED_GREEN OUTPUT GPIO(91) LOW # blue LED PC7 LED_BLUE OUTPUT GPIO(92) HIGH # setup for 2 LEDs define HAL_GPIO_A_LED_PIN 90 define HAL_GPIO_B_LED_PIN 92 define HAL_GPIO_LED_ON 0 # enable RAMTROM parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 # safety switch pin PE10 LED_SAFETY OUTPUT PE12 SAFETY_IN INPUT PULLDOWN define HAL_HAVE_SAFETY_SWITCH 1 # one baro BARO MS56XX SPI:ms5611 # one builtin compass, plus one on the default GPS that is external with # a non-default orientation COMPASS IST8310 I2C:0:0x0e false ROTATION_PITCH_180_YAW_270 define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_270 # compensate for magnetic field generated by the heater on the internal IST8310 define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0x0a),Vector3f(15,35,-6)} # also probe for external compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_COMPASS_AUTO_ROT_DEFAULT 2 # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 # don't share IOMCU DMA DMA_NOSHARE UART8* SPI1* TIM*UP* DMA_PRIORITY UART8* ADC* SPI1* # battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 16 define HAL_BATT_CURR_PIN 17 define HAL_BATT_VOLT_SCALE 18.182 define HAL_BATT_CURR_SCALE 36.364 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin