# hw definition file for processing by chibios_hwdef.py # for TMH7 hardware. # thanks to betaflight for pin information # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID 1138 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 MCU_CLOCKRATE_MHZ 480 FLASH_SIZE_KB 2048 # bootloader takes first sector FLASH_RESERVE_START_KB 384 define HAL_STORAGE_SIZE 16384 define STORAGE_FLASH_PAGE 1 STM32_ST_USE_TIMER 2 # SPI devices # SPI1 PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI3 PB2 SPI3_MOSI SPI3 PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 # SPI4 PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 # Chip select pins PA15 FLASH1_CS CS PB12 OSD1_CS CS PA4 GYRO1_CS CS PE11 GYRO2_CS CS # Beeper PE3 BUZZER OUTPUT GPIO(80) LOW define HAL_BUZZER_PIN 80 # SERIAL ports SERIAL_ORDER OTG1 USART1 EMPTY USART3 EMPTY UART5 USART6 UART7 UART8 # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # USART1 (ESC Telemetry) PA10 USART1_RX USART1 NODMA define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_ESCTelemetry # UART3 PD8 USART3_TX USART3 NODMA PD9 USART3_RX USART3 NODMA define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None # UART5 (GPS) PC12 UART5_TX UART5 PD2 UART5_RX UART5 define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS # USART6 (RX) PC6 USART6_TX USART6 PC7 USART6_RX USART6 define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN # UART7 (DJI) PE7 UART7_RX UART7 PE8 UART7_TX UART7 define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_DJI_FPV # UART8 (SBUS/SmartAudio) PE0 UART8_RX UART8 # no suitable timer for RCININT PE1 UART8_TX UART8 # I2C ports I2C_ORDER I2C1 # I2C1 PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # One baro BARO DPS310 I2C:0:0x76 # Servos PB8 CAMERA1 OUTPUT GPIO(70) LOW define RELAY2_PIN_DEFAULT 70 # ADC ports # ADC1 PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) define HAL_BATT_VOLT_PIN 11 define HAL_BATT_VOLT_SCALE 11.0 PC2 RSSI_ADC ADC1 define BOARD_RSSI_ANA_PIN 12 PC3 BATT_CURRENT_SENS ADC1 SCALE(1) define HAL_BATT_CURR_PIN 13 define HAL_BATT_CURR_SCALE 50.0 define HAL_BATT_MONITOR_DEFAULT 4 # MOTORS PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1 PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2 PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3 PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4 # LEDs PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9 define AP_NOTIFY_GPIO_LED_2_ENABLED 1 PE5 LED1 OUTPUT LOW GPIO(91) define HAL_GPIO_A_LED_PIN 91 PE4 LED2 OUTPUT LOW GPIO(92) define HAL_GPIO_B_LED_PIN 92 # Dataflash setup SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ define HAL_LOGGING_DATAFLASH_ENABLED 1 # OSD setup SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # IMU setup SPIDEV icm42688 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ SPIDEV bmi270 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ IMU BMI270 SPI:bmi270 ROTATION_PITCH_180 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4* DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4* # 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 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 define HAL_DEFAULT_INS_FAST_SAMPLE 3 # Motor order implies Betaflight/X for standard ESCs define HAL_FRAME_TYPE_DEFAULT 12 define AP_SCRIPTING_ENABLED 0