# hw definition file for processing by chibios_hwdef.py # for FlyingmoonH743 hardware # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID 1112 FLASH_SIZE_KB 2048 define HAL_STORAGE_SIZE 32768 # bootloader takes first sector FLASH_RESERVE_START_KB 128 env OPTIMIZE -O2 # crystal frequency OSCILLATOR_HZ 8000000 # this is the STM32 timer that ChibiOS will use for the low level # driver. This must be a 32 bit timer. We currently only support # timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details # ChibiOS system timer STM32_ST_USE_TIMER 2 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # this is the pin that senses USB being connected. It is an input pin # setup as OPENDRAIN PA9 VBUS INPUT OPENDRAIN # The normal usage of this ordering is: # 1) SERIAL0: console (primary mavlink, usually USB) # 2) SERIAL1: telem1 # 5) SERIAL2: telem2 # 3) SERIAL3: primary GPS1 # 4) SERIAL4: second GPS2 # 6) SERIAL5: extra UART or sbus output (usually RTOS debug console) SERIAL_ORDER OTG1 USART1 UART4 USART2 USART3 UART5 # USART1 for telem1 PB6 USART1_TX USART1 PB7 USART1_RX USART1 # USART2 for primary GPS1 PD5 USART2_TX USART2 NODMA PD6 USART2_RX USART2 # USART3 for second GPS2 PD8 USART3_TX USART3 NODMA PD9 USART3_RX USART3 # UART4 for telem2 PC10 UART4_TX UART4 NODMA PC11 UART4_RX UART4 NODMA # UART5 PC12 UART5_TX UART5 NODMA PD2 UART5_RX UART5 NODMA # CAN Busses 1 PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 # CAN Busses 2 PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # SPI1 for IMU PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PB0 ICM20689_CS CS PB1 ICM42605_CS CS PB2 ICM20649_CS CS PA4 RM3100_CS CS # SPI bus for dataflash AND SD PD3 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PA10 FRAM_CS CS SPEED_VERYLOW PE15 FLASH_CS CS # SPI3 bus for reserve PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20649 SPI1 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42605 SPI1 DEVID3 ICM42605_CS MODE3 2*MHZ 8*MHZ SPIDEV rm3100 SPI1 DEVID4 RM3100_CS MODE3 1*MHZ 1*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ # Three IMUs IMU Invensense SPI:icm20689 ROTATION_NONE IMU Invensensev2 SPI:icm20649 ROTATION_NONE IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_90 # Two baro BARO SPL06 I2C:0:0x76 BARO MS56XX I2C:0:0x77 # compass COMPASS RM3100 SPI:rm3100 false ROTATION_NONE # also probe external compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES # enable RAMTROM parameter storage define HAL_WITH_RAMTRON 1 # enable FAT filesystem support define HAL_OS_FATFS_IO 1 # define the order that I2C buses I2C_ORDER I2C1 I2C2 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 define HAL_I2C_INTERNAL_MASK 0 # PWM out pins PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) PA3 TIM5_CH4 TIM5 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) PC7 TIM3_CH2 TIM3 PWM(13) GPIO(62) NODMA PC8 TIM3_CH3 TIM3 PWM(14) GPIO(63) NODMA PC9 TIM3_CH4 TIM3 PWM(15) GPIO(64) NODMA PC15 EXTERN_GPIO1 OUTPUT GPIO(1) PC14 EXTERN_GPIO2 OUTPUT GPIO(2) PC13 EXTERN_GPIO3 OUTPUT GPIO(3) PE6 EXTERN_GPIO4 OUTPUT GPIO(4) PE4 EXTERN_GPIO5 OUTPUT GPIO(5) define RELAY1_PIN_DEFAULT 1 define RELAY2_PIN_DEFAULT 2 define RELAY3_PIN_DEFAULT 3 define RELAY4_PIN_DEFAULT 4 define RELAY5_PIN_DEFAULT 5 # also USART6_RX for serial RC PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW DMA_CH0 # LED setup is similar to PixRacer define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 PE3 LED_RED OUTPUT GPIO(10) PE2 LED_GREEN OUTPUT GPIO(11) PE1 LED_BLUE OUTPUT GPIO(12) PE0 LED_YELOW OUTPUT GPIO(13) define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 10 define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 11 define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12 # analog in PC0 PRESSURE_SENS ADC1 SCALE(2) PC1 RSSI_IN ADC1 SCALE(2) # define the primary battery connectors. PC2 BATT_CURRENT_SENS ADC1 SCALE(2) PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2) PC4 VDD_5V_SENS ADC1 SCALE(2) PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(4) define HAL_BATT_VOLT_PIN 13 define HAL_BATT_CURR_PIN 12 define HAL_BATT_VOLT_SCALE 22 define HAL_BATT_CURR_SCALE 55.55 define HAL_HAVE_SAFETY_SWITCH 1 PE7 LED_SAFETY OUTPUT PE8 SAFETY_IN INPUT PULLDOWN # PWM output for buzzer PE5 TIM15_CH1 TIM15 GPIO(77) ALARM