# hw definition file for processing by chibios_hwdef.py # for the MicoAir743-AIO hardware # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID AP_HW_MicoAir743-AIO # crystal frequency OSCILLATOR_HZ 8000000 # ChibiOS system timer STM32_ST_USE_TIMER 12 define CH_CFG_ST_RESOLUTION 16 # flash size FLASH_SIZE_KB 2048 FLASH_RESERVE_START_KB 128 define HAL_STORAGE_SIZE 32768 STORAGE_FLASH_PAGE 14 # default to all pins low to avoid ESD issues DEFAULTGPIO OUTPUT LOW PULLDOWN # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # UARTs PA9 USART1_TX USART1 PA10 USART1_RX USART1 PA2 USART2_TX USART2 PA3 USART2_RX USART2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PA0 UART4_TX UART4 PA1 UART4_RX UART4 PC6 USART6_TX USART6 PC7 USART6_RX USART6 PE8 UART7_TX UART7 PE7 UART7_RX UART7 PE1 UART8_TX UART8 PE0 UART8_RX UART8 # SWD PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # two I2C bus I2C_ORDER I2C2 I2C1 # I2C1 - CONNECTOR PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # I2C2 - BARO PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # PWM output pins PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) BIDIR PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PB1 TIM3_CH4 TIM3 PWM(5) GPIO(54) BIDIR PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) # LED-pad PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9 # Beeper PD15 BUZZER OUTPUT GPIO(59) LOW define HAL_BUZZER_PIN 59 # 9 PWM available by default define BOARD_PWM_COUNT_DEFAULT 9 # LEDs PE5 LED_RED OUTPUT LOW GPIO(0) PE6 LED_GREEN OUTPUT LOW GPIO(1) PE4 LED_BLUE OUTPUT LOW GPIO(2) define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0 define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1 define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2 define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 # ADC for Power PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) # setup for battery define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 10 define HAL_BATT_CURR_PIN 11 define HAL_BATT_VOLT_SCALE 21.12 define HAL_BATT_CURR_SCALE 14.14 # no built-in compass, but probe the i2c bus for all possible # external compass types define ALLOW_ARM_NO_COMPASS define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 # barometers BARO DPS310 I2C:0:0x76 # microSD support PC12 SDMMC1_CK SDMMC1 PD2 SDMMC1_CMD SDMMC1 PC8 SDMMC1_D0 SDMMC1 PC9 SDMMC1_D1 SDMMC1 PC10 SDMMC1_D2 SDMMC1 PC11 SDMMC1_D3 SDMMC1 define FATFS_HAL_DEVICE SDCD1 # SPI2 - IMUs PD3 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 PD5 GYRO_CS CS PD4 ACCEL_CS CS PA15 BMI270_CS CS # SPI devices SPIDEV bmi088_a SPI2 DEVID1 ACCEL_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_g SPI2 DEVID2 GYRO_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi270 SPI2 DEVID3 BMI270_CS MODE3 1*MHZ 10*MHZ # 2 IMUs IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 # setup for serial ports define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2 define DEFAULT_SERIAL4_OPTIONS 1024 define DEFAULT_SERIAL4_BAUD 115 define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 5 # setup for BF migration define HAL_FRAME_TYPE_DEFAULT 12