# hw definition file for processing by chibios_hwdef.py for A6_YJUAV # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 16000000 # board ID for firmware load APJ_BOARD_ID 1113 FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 # ChibiOS system timer STM32_ST_USE_TIMER 5 # bootloader takes first sector FLASH_RESERVE_START_KB 128 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART5 UART8 UART7 OTG2 # now we define the pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # USART1 TELEM1 PA10 USART1_RX USART1 PA9 USART1_TX USART1 # USART2 TELEM2 PD6 USART2_RX USART2 PD5 USART2_TX USART2 # USART3 GPS PD9 USART3_RX USART3 NODMA PD8 USART3_TX USART3 NODMA # UART5 GPS2 PB5 UART5_RX UART5 NODMA PB13 UART5_TX UART5 NODMA # SBUS, DSM port PE0 UART8_RX UART8 PE1 UART8_TX UART8 # UART7 DEBUG PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # these are the pins for SWD debugging with a STlinkv2 or black-magic probe PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 -IMU1 -COMPASS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 # SPI2 -IMU2 -IMU3 PD3 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI4 -FRAM -BAROMETER PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # SPI3 -Extra SPI PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB2 SPI3_MOSI SPI3 # sensors cs PA8 IMU1_CS CS PD4 IMU2_CS CS PD11 IMU3_CS CS PE4 FRAM_CS CS PE3 BAROMETER_CS CS PD10 COMPASS_CS CS PC15 RESERVE_CS CS # Extra SPI CS PE10 EXT_CS CS # I2C buses PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PD12 I2C4_SCL I2C4 PD13 I2C4_SDA I2C4 # order of I2C buses I2C_ORDER I2C2 I2C4 NODMA I2C* define STM32_I2C_USE_DMA FALSE define HAL_I2C_INTERNAL_MASK 0 # PWM channels PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) BIDIR PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55) PA2 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57) PC6 TIM3_CH1 TIM3 PWM(9) GPIO(58) PA7 TIM3_CH2 TIM3 PWM(10) GPIO(59) PB0 TIM3_CH3 TIM3 PWM(11) GPIO(60) PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61) PD14 TIM4_CH3 TIM4 PWM(13) GPIO(62) NODMA PD15 TIM4_CH4 TIM4 PWM(14) GPIO(63) NODMA # PWM output for buzzer PB14 TIM12_CH1 TIM12 GPIO(77) ALARM # RC input PC7 TIM8_CH2 TIM8 RCININT PULLUP LOW # Analog in PC0 BATT_CURRENT_SENS ADC1 SCALE(1) PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) # ADC3.3/ADC6.6 PC4 SPARE1_ADC1 ADC1 SCALE(1) PC5 SPARE2_ADC1 ADC1 SCALE(2) PC3 VDD_5V_SENS ADC1 SCALE(2) PA4 RSSI_IN ADC1 SCALE(1) # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PB12 CAN2_RX CAN2 PB6 CAN2_TX CAN2 # GPIOs PC14 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 80 define HAL_HAVE_IMU_HEATER 1 # enable pins PC13 VDD_3V3_SENSORS_EN OUTPUT LOW # red LED marked as B/E PE12 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0) PE15 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1) PB9 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 # use pixracer style 3-LED indicators define HAL_HAVE_PIXRACER_LED # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 PB8 LED_SAFETY OUTPUT PB7 SAFETY_IN INPUT PULLDOWN # SPI devices SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ SPIDEV imu2 SPI2 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ SPIDEV imu3 SPI2 DEVID2 IMU3_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI4 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV dps310 SPI4 DEVID2 BAROMETER_CS MODE3 5*MHZ 5*MHZ SPIDEV bmp388 SPI4 DEVID3 BAROMETER_CS MODE3 5*MHZ 5*MHZ SPIDEV rm3100 SPI1 DEVID2 COMPASS_CS MODE3 2*MHZ 8*MHZ # IMU1 IMU Invensense SPI:imu1 ROTATION_PITCH_180_YAW_90 IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90 # IMU2 IMU Invensense SPI:imu2 ROTATION_PITCH_180_YAW_90 IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_90 # IMU3 IMU Invensense SPI:imu3 ROTATION_YAW_90 IMU Invensensev3 SPI:imu3 ROTATION_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 5 # baro dps310 or bmp388 BARO DPS310 SPI:dps310 BARO BMP388 SPI:bmp388 # compasses rm3100 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180 define HAL_PROBE_EXTERNAL_I2C_COMPASSES COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90 # microSD support PC8 SDMMC1_D0 SDMMC1 PC9 SDMMC1_D1 SDMMC1 PC10 SDMMC1_D2 SDMMC1 PC11 SDMMC1_D3 SDMMC1 PC12 SDMMC1_CK SDMMC1 PD2 SDMMC1_CMD SDMMC1 # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 # enable RAMTROM parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 DMA_PRIORITY SPI1* SPI2* TIM*UP* DMA_NOSHARE SPI1* SPI2* TIM*UP* # Enable Sagetech MXS ADSB transponder define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED