# hw definition file for processing by chibios_hwdef.py # for H757 # MCU class and specific type MCU STM32H7xx STM32H757xx # USB setup USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE USB_PRODUCT 0x1059 USB_STRING_MANUFACTURER "CubePilot" USB_STRING_PRODUCT "CubeRed" define CORE_CM7 define SMPS_PWR # crystal frequency OSCILLATOR_HZ 24000000 # board ID for firmware load APJ_BOARD_ID 1069 FLASH_SIZE_KB 2048 # bootloader is installed at zero offset FLASH_RESERVE_START_KB 128 # the location where the bootloader will put the firmware # the H743 has 128k sectors FLASH_BOOTLOADER_LOAD_KB 128 define HAL_LED_ON 0 # Enable FAT filesystem support (needs a microSD defined via SDMMC). define HAL_OS_FATFS_IO 1 # 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 # supports upto 8MBits/s CANFD_SUPPORTED 8 STM32_ST_USE_TIMER 12 # disable core m4 use to silence the asserts # checking allocation of peripherals define STM32_HAS_M4 0 define CH_CFG_ST_RESOLUTION 16 # use last 2 pages for flash storage # H757 has 16 pages of 128k each STORAGE_FLASH_PAGE 14 define HAL_STORAGE_SIZE 32768 # ADC setup PF11 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(14) PC0 BATT_CURRENT_SENS ADC1 SCALE(1) ANALOG(15) PB1 AUX_POWER ADC2 SCALE(1) ANALOG(13) # AUX Volt PF12 AUX_ADC2 ADC1 SCALE(1) ANALOG(4) # AUX Curr define HAL_BATT_VOLT_PIN 14 define HAL_BATT_CURR_PIN 15 define HAL_BATT2_VOLT_PIN 13 define HAL_BATT2_CURR_PIN 4 define HAL_BATT_VOLT_SCALE 12.02 define HAL_BATT_CURR_SCALE 39.877 PF13 VDD_5V_SENS ADC2 SCALE(2) ANALOG(18) # And the analog input for airspeed (rarely used these days). PF3 PRESSURE_SENS ADC3 SCALE(2) ANALOG(8) PC3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(3) ANALOG(9) # CAN config PE10 GPIOCAN1_TERM OUTPUT HIGH PG4 GPIOCAN2_TERM OUTPUT HIGH PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 PB5 CAN2_RX CAN2 PB6 CAN2_TX CAN2 # SPI1 PE13 BARO_0_CS CS PE9 ICM42688_0_CS CS PB3 SPI1_SCK SPI1 PB4 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 # SPI2 PD15 RM3100_CS CS PD14 ICM42688_1_CS CS PA9 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI4 PF5 ICM20649_CS CS PC2 BARO_1_CS CS PE12 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # Sensors SPIDEV icm42688_0 SPI1 DEVID1 ICM42688_0_CS MODE3 2*MHZ 8*MHZ SPIDEV ms5611_0 SPI1 DEVID2 BARO_0_CS MODE3 20*MHZ 20*MHZ SPIDEV icm42688_1 SPI2 DEVID1 ICM42688_1_CS MODE3 2*MHZ 8*MHZ SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20649 SPI4 DEVID1 ICM20649_CS MODE3 4*MHZ 8*MHZ SPIDEV ms5611_1 SPI4 DEVID2 BARO_1_CS MODE3 20*MHZ 20*MHZ IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90 IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270 IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180 BARO MS56XX SPI:ms5611_0 BARO MS56XX SPI:ms5611_1 COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270 CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) CHECK_ICM42688_0 spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) CHECK_ICM45686_0 spi_check_register("icm42688_0", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) CHECK_ICM42688_1 spi_check_register("icm42688_1", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) CHECK_ICM45686_1 spi_check_register("icm42688_1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) CHECK_MS5611_0 check_ms5611("ms5611_0") CHECK_MS5611_1 check_ms5611("ms5611_1") CHECK_IMU0_PRESENT $CHECK_ICM20649 CHECK_IMU1_PRESENT $CHECK_ICM42688_0 || $CHECK_ICM45686_0 CHECK_IMU2_PRESENT $CHECK_ICM42688_1 || $CHECK_ICM45686_1 CHECK_BARO0_PRESENT $CHECK_MS5611_0 CHECK_BARO1_PRESENT $CHECK_MS5611_1 BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT $CHECK_IMU1_PRESENT $CHECK_BARO1_PRESENT $CHECK_IMU2_PRESENT define HAL_CHIBIOS_ARCH_FMUV3 1 define BOARD_TYPE_DEFAULT 3 # MCO output PA8 RCC_MCO_1 OUTPUT LOW # I2C PF0 I2C2_SDA I2C2 PF1 I2C2_SCL I2C2 PF14 I2C4_SCL I2C4 PF15 I2C4_SDA I2C4 I2C_ORDER I2C2 I2C4 # Ethernet PC1 ETH_MDC ETH1 PA2 ETH_MDIO ETH1 PC4 ETH_RMII_RXD0 ETH1 PC5 ETH_RMII_RXD1 ETH1 PB12 ETH_RMII_TXD0 ETH1 PB13 ETH_RMII_TXD1 ETH1 PB11 ETH_RMII_TX_EN ETH1 PA7 ETH_RMII_CRS_DV ETH1 PA1 ETH_RMII_REF_CLK ETH1 define BOARD_PHY_ID MII_LAN8720_ID define BOARD_PHY_RMII # Refer to https://maclookup.app/vendors/cubepilot-pty-ltd # Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID define AP_NETWORKING_DEFAULT_MAC_ADDR "A8:B0:28:00:00:00" # RCIN PB7 TIM4_CH2 TIM4 RCININT PULLDOWN # QUADSPI PD11 QUADSPI_BK1_IO0 QUADSPI1 PD12 QUADSPI_BK1_IO1 QUADSPI1 PE2 QUADSPI_BK1_IO2 QUADSPI1 PD13 QUADSPI_BK1_IO3 QUADSPI1 PB10 QUADSPI_BK1_NCS QUADSPI1 PB2 QUADSPI_CLK QUADSPI1 # SDMMC PC10 SDMMC1_D2 SDMMC1 PC11 SDMMC1_D3 SDMMC1 PC12 SDMMC1_CK SDMMC1 PC8 SDMMC1_D0 SDMMC1 PC9 SDMMC1_D1 SDMMC1 PD2 SDMMC1_CMD SDMMC1 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # SWD PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # GPIO PG5 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0) # 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. PE15 VDD_BRICK_nVALID INPUT PULLUP PE4 VDD_BRICK2_nVALID INPUT PULLUP PF4 VDD_5V_HIPOWER_nOC INPUT PULLUP PD10 VDD_5V_PERIPH_nOC INPUT PULLUP # This is the pin to enable the sensors rail. It can be used to power # cycle sensors to recover them in case there are problems with power on # timing affecting sensor stability. We pull it LOW on startup, which # means sensors off, then it is pulled HIGH in peripheral_power_enable() PG0 VDD_3V3_SENSORS_EN OUTPUT LOW # 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() PF2 nVDD_5V_PERIPH_EN OUTPUT LOW PA0 TIM5_CH1 TIM5 GPIO(79) ALARM PE3 VBUS_nVALID INPUT PULLUP # upper PG2 HEATER_EN OUTPUT LOW GPIO(81) # lower # PG1 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 81 # define HAL_HEATER_GPIO_PIN2 80 define HAL_HAVE_IMU_HEATER 1 # Timer PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) BIDIR PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53) BIDIR PA6 TIM3_CH1 TIM3 PWM(5) GPIO(54) BIDIR PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR # UART PD1 UART4_TX UART4 PD0 UART4_RX UART4 PE0 UART8_RX UART8 PE1 UART8_TX UART8 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PC6 USART6_TX USART6 PC7 USART6_RX USART6 PG15 USART6_CTS USART6 PG8 USART6_RTS USART6 # primary <-> secondary PE7 UART7_RX UART7 PE8 UART7_TX UART7 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 EMPTY UART7 EXT_FLASH_SIZE_MB 32 INT_FLASH_PRIMARY 1 # forward Serial traffic from USB OTG2 to Serial7(UART7) define HAL_FORWARD_OTG2_SERIAL 7 define HAL_HAVE_DUAL_USB_CDC 1 define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2 define DEFAULT_SERIAL7_BAUD 2000000