# hw definition file for processing by chibios_pins.py # for SkystarsH7HD # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID 1075 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 FLASH_SIZE_KB 2048 env OPTIMIZE -O2 # ChibiOS system timer STM32_ST_USE_TIMER 12 define CH_CFG_ST_RESOLUTION 16 # leave 1 sectors free FLASH_RESERVE_START_KB 128 # use last 2 pages for flash storage # H743 has 16 pages of 128k each STORAGE_FLASH_PAGE 14 define HAL_STORAGE_SIZE 32768 # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 # buzzer PB3 BUZZER OUTPUT LOW PULLDOWN GPIO(80) define HAL_BUZZER_PIN 80 define HAL_BUZZER_ON 1 define HAL_BUZZER_OFF 0 define HAL_PWM_ALT_ALARM # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 for BMI270 (Gyro 1) PC15 BMI270_CS1 CS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 PB2 BMI270_INT1 INPUT # SPI2 for AT7456E OSD PB12 AT7456E_CS CS PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI3 for W25Q128 dataflash PA15 FLASH_CS CS PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 # SPI4 for BMI270 (Gyro 2) PE11 BMI270_CS2 CS PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 PE15 BMI270_INT2 INPUT DMA_PRIORITY TIM1* TIM4* TIM3* TIM2* SPI1* SPI4* DMA_NOSHARE SPI1_RX SPI2_TX SPI4_RX USART6_RX # spi devices SPIDEV bmi270_1 SPI1 DEVID1 BMI270_CS1 MODE3 1*MHZ 10*MHZ SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ SPIDEV dataflash SPI3 DEVID3 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV bmi270_2 SPI4 DEVID4 BMI270_CS2 MODE3 1*MHZ 10*MHZ # one I2C bus I2C_ORDER I2C2 I2C1 # I2C1 - external PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # I2C2 - internal Baro PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) # VTX Power control - should be high at startup to ensure power PC5 VTX_PWR OUTPUT LOW GPIO(81) # labelled as "Pit-1" PC2 VID_SELECT OUTPUT LOW GPIO(82) # labelled as "PIN-EN" PD2 CAM_C OUTPUT LOW GPIO(83) # labelled as "CAM-C" # define default battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 10 define HAL_BATT_CURR_PIN 11 define HAL_BATT2_VOLT_PIN 10 define HAL_BATT2_CURR_PIN 12 define HAL_BATT_VOLT_SCALE 11.1 define HAL_BATT_CURR_SCALE 59.5 define HAL_BATT2_VOLT_SCALE 11.1 define HAL_BATT2_CURR_SCALE 59.5 PC3 RSSI_ADC ADC1 define BOARD_RSSI_ANA_PIN 13 PE3 LED0 OUTPUT LOW GPIO(90) # red, labelled as LED1 PE4 LED1 OUTPUT LOW GPIO(91) # blue, labelled as LED2 define HAL_GPIO_A_LED_PIN 90 define HAL_GPIO_B_LED_PIN 91 define HAL_GPIO_LED_OFF 1 # USART1 PA9 USART1_TX USART1 PA10 USART1_RX USART1 # USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 # USART3 PD8 USART3_TX USART3 PD9 USART3_RX USART3 # UART4 PD0 UART4_RX UART4 PD1 UART4_TX UART4 # UART5 PB5 UART5_RX UART5 PB6 UART5_TX UART5 # USART6 (RX / SBUS) # as an alternative config setup the RX6 pin as a uart. This allows # for bi-directional UART based receiver protocols such as FPort # without any extra hardware PC6 USART6_TX USART6 NODMA PC7 USART6_RX USART6 NODMA ALT(1) # UART7 PE7 UART7_RX UART7 PE8 UART7_TX UART7 # UART8 PE0 UART8_RX UART8 PE1 UART8_TX UART8 define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN define HAL_SERIAL6_BAUD 115 # Motors PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50) PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51) PD12 TIM4_CH1 TIM4 PWM(3) GPIO(52) PD13 TIM4_CH2 TIM4 PWM(4) GPIO(53) PA0 TIM2_CH1 TIM2 PWM(5) GPIO(54) PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55) PA2 TIM2_CH3 TIM2 PWM(7) GPIO(56) PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57) # LED strip WS2812 / Neopixel PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # RC input defaults to timer capture PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # 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 # two IMU IMU BMI270 SPI:bmi270_1 ROTATION_ROLL_180_YAW_90 IMU BMI270 SPI:bmi270_2 ROTATION_ROLL_180 # one BARO BARO BMP280 I2C:0:0x76 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin define STM32_PWM_USE_ADVANCED TRUE