# hw definition file for processing by chibios_hwdef.py for Qiotek ZealotH743 # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 8000000 # board ID for firmware load APJ_BOARD_ID 1036 FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 # ChibiOS system timer STM32_ST_USE_TIMER 2 # bootloader takes first sector FLASH_RESERVE_START_KB 128 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7 # now we define the pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA9 VBUS INPUT # these are the pins for SWD debugging with a STlinkv2 or black-magic probe PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 - internal sensors and OSD PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 - FRAM and SmartCard PD3 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 # SPI3 - ADIS16470 sensor PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 # sensor PB2 IMU1_CS CS PE10 IMU2_CS CS PE12 IMU3_CS CS PE3 BARO1_CS CS PD7 BARO2_CS CS PA8 AT7456_CS CS PA10 FRAM_CS CS PC10 FLASH_CS CS PA15 ADIS16470_CS CS # use GPIO(93) for data ready on ADIS16470 define ADIS_DRDY_PIN 93 # define the order that I2C buses I2C_ORDER I2C2 I2C1 # I2C1 is on GPS port PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # I2C2 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 define HAL_I2C_INTERNAL_MASK 1 # define UARTs # USART1 is telem1 PB15 USART1_RX USART1 PB14 USART1_TX USART1 # USART2 is telem2 PD6 USART2_RX USART2 PD5 USART2_TX USART2 # USART3 is GPS1 PD9 USART3_RX USART3 PD8 USART3_TX USART3 NODMA # USART4 is GPS2 PB8 UART4_RX UART4 NODMA PB9 UART4_TX UART4 NODMA # UART7 is debug PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # PWM AUX channels PA2 TIM5_CH3 TIM5 PWM(1) GPIO(50) PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51) PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) PC9 TIM3_CH4 TIM3 PWM(4) GPIO(53) PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54) PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55) PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56) PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57) PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61) PC6 TIM3_CH1 TIM3 PWM(13) GPIO(62) NODMA PC7 TIM3_CH2 TIM3 PWM(14) GPIO(63) NODMA # PWM output for buzzer PE5 TIM15_CH1 TIM15 GPIO(77) ALARM # RC input PC8 TIM8_CH3 TIM8 RCININT PULLUP LOW # analog in PA0 BATT_VOLTAGE_SENS ADC1 SCALE(2) PA1 BATT_CURRENT_SENS ADC1 SCALE(2) PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(2) PC1 BATT2_CURRENT_SENS ADC1 SCALE(2) # Board VCC and servo rail VCC PA4 VDD_5V_SENS ADC1 SCALE(2) PC4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12) # analog in ADC6.6 PC5 PRESSURE_SENS ADC1 SCALE(2) PB1 RSSI_IN ADC1 SCALE(2) # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 # 2nd CAN bus PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # control for silent (no output) for CAN PD11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) PD10 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) # SPI devices SPIDEV adis16470 SPI3 DEVID1 ADIS16470_CS MODE3 1*MHZ 2*MHZ SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ SPIDEV imu2 SPI1 DEVID2 IMU2_CS MODE3 2*MHZ 8*MHZ SPIDEV imu3 SPI1 DEVID3 IMU3_CS MODE3 2*MHZ 8*MHZ SPIDEV baro1 SPI1 DEVID2 BARO1_CS MODE3 5*MHZ 5*MHZ SPIDEV baro2 SPI1 DEVID1 BARO2_CS MODE3 5*MHZ 5*MHZ SPIDEV osd SPI1 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 10*MHZ # four IMUs, adi16740 is used, then imu3 will be removed IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 ADIS_DRDY_PIN IMU Invensense SPI:imu1 ROTATION_ROLL_180 IMU Invensensev3 SPI:imu1 ROTATION_YAW_270 IMU Invensense SPI:imu2 ROTATION_ROLL_180 IMU Invensensev3 SPI:imu2 ROTATION_YAW_270 IMU Invensense SPI:imu3 ROTATION_ROLL_180 # two Baro sensors BARO DPS280 SPI:baro1 BARO DPS280 SPI:baro2 define HAL_DEFAULT_INS_FAST_SAMPLE 5 # look for I2C compass COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270 COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 1 # LED setup is similar to PixRacer define HAL_HAVE_PIXRACER_LED PE2 LED_RED OUTPUT GPIO(10) PE1 LED_GREEN OUTPUT GPIO(11) PE0 LED_BLUE OUTPUT GPIO(12) define HAL_GPIO_A_LED_PIN 10 define HAL_GPIO_B_LED_PIN 11 define HAL_GPIO_C_LED_PIN 12 define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 #define GPIOs PE15 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 80 define HAL_HAVE_IMU_HEATER 1 PC11 EXTERN_GPIO1 OUTPUT GPIO(1) PC12 EXTERN_GPIO2 OUTPUT GPIO(2) PD2 EXTERN_GPIO3 OUTPUT GPIO(3) PE6 EXTERN_GPIO4 OUTPUT GPIO(4) # enable FAT filesystem support define HAL_OS_FATFS_IO 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" # enable RAMTROM parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 PC13 LED_SAFETY OUTPUT PE4 SAFETY_IN INPUT PULLDOWN # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin DMA_PRIORITY SPI1* SPI3* TIM*UP* DMA_NOSHARE SPI1* TIM*UP*