# hw definition file for processing by chibios_hwdef.py # for FOXEERH743V1 hardware. # thanks to betaflight for pin information # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID 1089 # 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 # 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 PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 # Chip select pins PA15 FLASH1_CS CS PA4 OSD1_CS CS PB12 GYRO1_CS CS # Beeper PD2 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 # USART4 can also support PPM PA1 TIM2_CH2 TIM2 RCININT PULLDOWN LOW ALT(1) # SERIAL ports SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8 # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # USART1 (RX/SBUS) PA10 USART1_RX USART1 PA9 USART1_TX USART1 define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN # USART2 (VTX) PA2 USART2_TX USART2 NODMA PA3 USART2_RX USART2 NODMA define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_Tramp # USART3 PB10 USART3_TX USART3 PB11 USART3_RX USART3 define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None # UART4 (DJI RX/SBUS) PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None # USART6 (GPS) PC6 USART6_TX USART6 PC7 USART6_RX USART6 define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS define DEFAULT_SERIAL6_BAUD 115 # UART7 (DJI OSD) PE7 UART7_RX UART7 PE8 UART7_TX UART7 define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_DJI_FPV define DEFAULT_SERIAL7_BAUD 115 # UART8 (ESC) PE0 UART8_RX UART8 NODMA PE1 UART8_TX UART8 NODMA define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry define DEFAULT_SERIAL8_BAUD 115 # I2C ports I2C_ORDER I2C1 # I2C1 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # Servos PE5 SERVO1 OUTPUT GPIO(70) LOW define RELAY2_PIN_DEFAULT 70 PE6 SERVO2 OUTPUT GPIO(71) LOW define RELAY3_PIN_DEFAULT 71 PB3 CAMERA1 OUTPUT GPIO(72) LOW define RELAY4_PIN_DEFAULT 72 # ADC ports # ADC1 PC2 BATT_CURRENT_SENS ADC1 SCALE(1) define HAL_BATT_CURR_PIN 12 define HAL_BATT_CURR_SCALE 35.4 PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) define HAL_BATT_VOLT_PIN 13 define HAL_BATT_VOLT_SCALE 11.0 define HAL_BATT_MONITOR_DEFAULT 4 # MOTORS PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # M1 PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51) # M2 PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) BIDIR # M3 PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) # M4 PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR # M5 PD13 TIM4_CH2 TIM4 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 PC13 LED0 OUTPUT LOW GPIO(90) define HAL_GPIO_A_LED_PIN 90 define HAL_GPIO_LED_OFF 1 # Dataflash setup SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ define HAL_LOGGING_DATAFLASH_ENABLED 1 # OSD setup SPIDEV osd SPI1 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 imu1 SPI2 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ IMU Invensense SPI:imu1 ROTATION_YAW_270 DMA_NOSHARE TIM3_UP TIM4_UP TIM8_UP SPI2* DMA_PRIORITY TIM3_UP TIM4_UP TIM8_UP SPI2* # 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 1 # Motor order implies Betaflight/X for standard ESCs define HAL_FRAME_TYPE_DEFAULT 12 define AP_SCRIPTING_ENABLED 0