# hw definition file for processing by chibios_hwdef.py # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 24000000 # board ID for firmware load APJ_BOARD_ID 1083 FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 FLASH_RESERVE_START_KB 128 # order of I2C buses I2C_ORDER I2C3 I2C2 I2C1 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2 #DEFAULTGPIO OUTPUT LOW PULLDOWN # USB. PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA9 VBUS INPUT OPENDRAIN PC0 VBUS_nVALID INPUT PULLUP # telem1 PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 PD3 EXTERN_GPIO4 OUTPUT GPIO(4) ALT(1) PD4 EXTERN_GPIO5 OUTPUT GPIO(5) ALT(1) # telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 # GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 NODMA # GPS2 PE0 UART8_RX UART8 PE1 UART8_TX UART8 NODMA # UART7 PE7 UART7_RX UART7 PE8 UART7_TX UART7 # UART for IOMCU IOMCU_UART USART6 PC6 USART6_TX USART6 PC7 USART6_RX USART6 PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT_CURRENT_SENS ADC1 SCALE(1) # Now the VDD sense pin. This is used to sense primary board voltage. PA4 VDD_5V_SENS ADC1 SCALE(2) # This defines an output pin which will default to output HIGH. It is # a pin that enables peripheral power on this board. It starts in the # off state, then is pulled low to enable peripherals in # peripheral_power_enable() #PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH PE3 VDD_3V3_SENSORS_EN OUTPUT LOW # SWD debug PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PWM output for buzzer PA15 TIM2_CH1 TIM2 GPIO(77) ALARM # CAN1 PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 # CAN2 PB6 CAN2_TX CAN2 PB12 CAN2_RX CAN2 # I2C1 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # I2C2 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # I2C3 for onboard mag PA8 I2C3_SCL I2C3 PC9 I2C3_SDA I2C3 # SPI1. PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI4. PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # SPI2 PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # This defines more ADC inputs. PC3 AUX_POWER ADC1 SCALE(1) PC4 AUX_ADC2 ADC1 SCALE(1) # And the analog input for airspeed (rarely used these days). PC5 PRESSURE_SENS ADC1 SCALE(2) # More CS pins for more sensors. The labels for all CS pins need to # match the SPI device table later in this file. PC2 42688_EXT_CS CS PD7 BARO_EXT_CS CS PC13 40605_EXT_CS CS PE4 42688_CS CS PC14 BARO_CS CS PD10 FRAM_CS CS PD2 SDCARD_CS CS PC1 42688_EXT_DRDY INPUT PC15 40605_EXT_DRDY INPUT PD15 42688_DRDY INPUT # Now we start defining some PWM pins. We also map these pins to GPIO # values, so users can set SERVOx_FUNCTION=-1 to determine which # PWM outputs on the primary MCU are set up as GPIOs. # To match HAL_PX4 we number the GPIOs for the PWM outputs # starting at 50. PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PE13 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) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) PB4 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH PB3 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH PB5 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 11 define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 13 define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12 define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 # Power flag pins: these tell the MCU the status of the various power # supplies that are available. The pin names need to exactly match the # names used in AnalogIn.cpp. PB2 VDD_BRICK_nVALID INPUT PULLUP PB7 VDD_BRICK2_nVALID INPUT PULLUP PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP PE15 VDD_5V_PERIPH_nOC INPUT PULLUP SPIDEV ms5611 SPI1 DEVID5 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 8*MHZ SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 8*MHZ SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ #SPIDEV iim42652 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ # IMUs IMU Invensensev3 SPI:ICM42688 ROTATION_NONE IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE #IMU Invensensev3 SPI:iim42652 ROTATION_NONE define HAL_DEFAULT_INS_FAST_SAMPLE 7 # two baros BARO MS56XX SPI:ms5611 BARO MS56XX SPI:ms5611_ext # probe external I2C compasses plus some internal IST8310 COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 1 undef AP_FEATURE_SBUS_OUT # Enable FAT filesystem support. define HAL_OS_FATFS_IO 1 # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 # Enable RAMTROM parameter storage. define HAL_WITH_RAMTRON 1 define HAL_STORAGE_SIZE 32768 # Setup the IMU heater define HAL_HAVE_IMU_HEATER 1 define HAL_IMU_TEMP_DEFAULT 45 define HAL_IMUHEAT_P_DEFAULT 50 define HAL_IMUHEAT_I_DEFAULT 0.07 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 # compensate for magnetic field generated by the heater on internal IST8310 define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0xa),Vector3f(0,2,-19)} # this board does not have heater detection pins, so force via features register define AP_IOMCU_FORCE_ENABLE_HEATER 1 # Enable all IMUs to be used and therefore three active EKF Lanes define HAL_EKF_IMU_MASK_DEFAULT 7 # Now setup the default battery pins driver analog pins and default # scaling for the power brick. define HAL_BATT_VOLT_PIN 14 define HAL_BATT_CURR_PIN 15 define HAL_BATT_VOLT_SCALE 18.0 define HAL_BATT_CURR_SCALE 24.0 define HAL_GPIO_PWM_VOLT_PIN 3 define HAL_GPIO_PWM_VOLT_3v3 1 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin DMA_NOSHARE SPI1* SPI4* USART6*