# hw definition file for processing by chibios_hwdef.py # for JHEH743_HD hardware. # thanks to betaflight for pin information # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID 1411 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 MCU_CLOCKRATE_MHZ 480 FLASH_SIZE_KB 2048 # bootloader takes first sector FLASH_RESERVE_START_KB 384 define HAL_STORAGE_SIZE 16384 define STORAGE_FLASH_PAGE 1 STM32_ST_USE_TIMER 2 # SPI devices # SPI1 PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI3 PB2 SPI3_MOSI SPI3 PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 # SPI4 PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 # Chip select pins PA15 FLASH1_CS CS PB12 OSD1_CS CS PA4 GYRO1_CS CS PE11 GYRO2_CS CS # Beeper PE3 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 # SERIAL ports SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2 # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # USART1 PA10 USART1_RX USART1 PA9 USART1_TX USART1 # USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN # USART3 PD8 USART3_TX USART3 PD9 USART3_RX USART3 define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None # UART4 PD0 UART4_RX UART4 PD1 UART4_TX UART4 define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS # UART5 PC12 UART5_TX UART5 NODMA PD2 UART5_RX UART5 NODMA # USART6 PC6 USART6_TX USART6 PC7 USART6_RX USART6 define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort # UART7 PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry # UART8 PE0 UART8_RX UART8 NODMA PE1 UART8_TX UART8 NODMA # I2C ports I2C_ORDER I2C1 I2C2 # I2C1 PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # I2C2 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # Servos # ADC ports # ADC1 PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) define HAL_BATT_VOLT_PIN 11 define HAL_BATT_VOLT_SCALE 11.0 PC3 BATT_CURRENT_SENS ADC1 SCALE(1) define HAL_BATT_CURR_PIN 13 define HAL_BATT_CURR_SCALE 58.8 define HAL_BATT_MONITOR_DEFAULT 4 # 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 PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR # M5 PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) # M6 PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR # M7 PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) # M8 # LEDs PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9 define AP_NOTIFY_GPIO_LED_2_ENABLED 1 PE5 LED0 OUTPUT LOW GPIO(90) define HAL_GPIO_A_LED_PIN 90 PE4 LED1 OUTPUT LOW GPIO(91) define HAL_GPIO_B_LED_PIN 91 # Dataflash setup SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25NXX define HAL_LOGGING_DATAFLASH_ENABLED 1 # OSD setup SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # Barometer setup BARO DPS310 I2C:0:0x76 # IMU setup # IMU setup SPIDEV icm42688p SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ IMU Invensensev3 SPI:icm42688p ROTATION_PITCH_180 SPIDEV icm42688p2 SPI4 DEVID2 GYRO2_CS MODE3 1*MHZ 8*MHZ IMU Invensensev3 SPI:icm42688p2 ROTATION_ROLL_180 DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4* DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4* # no built-in compass, but probe the i2c bus for all possible # external compass types define ALLOW_ARM_NO_COMPASS define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 define HAL_DEFAULT_INS_FAST_SAMPLE 3 # Motor order implies Betaflight/X for standard ESCs define HAL_FRAME_TYPE_DEFAULT 12