# hw definition file for processing by chibios_hwdef.py # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 16000000 # board ID for firmware load APJ_BOARD_ID 7100 FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 # bootloader takes first sector FLASH_RESERVE_START_KB 128 # ChibiOS system timer STM32_ST_USE_TIMER 5 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART6 USART1 USART3 UART8 UART4 OTG2 UART7 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # UARTs # USART2 is telem1 PD6 USART2_RX USART2 PD5 USART2_TX USART2 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 # USART6 is telem2 PC7 USART6_RX USART6 PC6 USART6_TX USART6 PG15 USART6_CTS USART6 PG8 USART6_RTS USART6 # USART1 is GPS1 PB15 USART1_RX USART1 NODMA PB14 USART1_TX USART1 NODMA # UART3 is GPS2 PD9 USART3_RX USART3 NODMA PD8 USART3_TX USART3 NODMA # SBUS, DSM port PE0 UART8_RX UART8 PE1 UART8_TX UART8 # RS232 PH14 UART4_RX UART4 NODMA PH13 UART4_TX UART4 NODMA # UART7 is debug PF6 UART7_RX UART7 NODMA PF7 UART7_TX UART7 NODMA # debug pins PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 - sensors1 PG11 SPI1_SCK SPI1 PG9 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 # SPI2 - compass PI1 SPI2_SCK SPI2 PI2 SPI2_MISO SPI2 PI3 SPI2_MOSI SPI2 # SPI4 - sensors2 - baro1 PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # SPI6 - sensors3 - baro2 PG13 SPI6_SCK SPI6 PB4 SPI6_MISO SPI6 PG14 SPI6_MOSI SPI6 # SPI5 - FRAM PK0 SPI5_SCK SPI5 PJ11 SPI5_MISO SPI5 PJ10 SPI5_MOSI SPI5 # sensor CS PG10 IMU1_CS CS PJ2 IMU2_CS CS PI4 IMU3_CS CS PE8 RM3100_CS CS PE4 BAROMETER1_CS CS PI9 BAROMETER2_CS CS PK2 FRAM_CS CS # RESERVE CS PE10 RESERVE_CS1 CS PI14 RESERVE_CS2 CS PI15 RESERVE_CS3 CS # drdy pins PH4 DRDY1_ADIS16470 INPUT GPIO(93) PH10 DRDY2_ICM42688 INPUT PE9 DRDY3_RM3100 INPUT PH5 DRDY4_ICM42688 INPUT # use GPIO(93) for data ready on ADIS16470 define ADIS_DRDY_PIN 93 # I2C buses # I2C1 is on I2C1 port PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # I2C2 on I2C2 port PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 # I2C3 is on GPS2 port PH7 I2C3_SCL I2C3 PH8 I2C3_SDA I2C3 # I2C4 is on GPS1 port PF14 I2C4_SCL I2C4 PF15 I2C4_SDA I2C4 # order of I2C buses I2C_ORDER I2C1 I2C2 I2C3 I2C4 NODMA I2C* define STM32_I2C_USE_DMA FALSE define HAL_I2C_INTERNAL_MASK 0 # enable pins PE3 VDD_3V3_SENSORS_EN OUTPUT LOW # start peripheral power off, then enable after init # this prevents a problem with radios that use RTS for # bootloader hold PD11 VDD_5V_HIPOWER_EN OUTPUT LOW PG4 VDD_5V_PERIPH_EN OUTPUT LOW PD10 VDD_5V_RC_EN OUTPUT HIGH PG7 VDD_3V3_SD_CARD_EN OUTPUT LOW # PWM AUX channels PA15 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR PB3 TIM2_CH2 TIM2 PWM(2) GPIO(51) PB10 TIM2_CH3 TIM2 PWM(3) GPIO(52) BIDIR PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53) PK1 TIM1_CH1 TIM1 PWM(5) GPIO(54) BIDIR PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55) PJ9 TIM1_CH3 TIM1 PWM(7) GPIO(56) BIDIR 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) PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA # PWM output for buzzer PE5 TIM15_CH1 TIM15 GPIO(77) ALARM # RC input PB1 TIM3_CH4 TIM3 RCININT PULLDOWN LOW # analog in PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PF11 BATT_CURRENT_SENS ADC1 SCALE(1) PA5 SPARE1_ADC1 ADC1 SCALE(1) PA6 SPARE2_ADC1 ADC1 SCALE(2) PB0 RSSI_IN ADC1 SCALE(1) PC0 VDD_5V_SENS ADC1 SCALE(2) PC2 SCALED_V3V3 ADC1 SCALE(2) PF12 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3) # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PB5 CAN2_RX CAN2 PB6 CAN2_TX CAN2 PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) # GPIOs PA8 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 80 define HAL_HAVE_IMU_HEATER 1 PG1 VDD_BRICK_nVALID INPUT PULLUP PG2 VDD_BRICK2_nVALID INPUT PULLUP PG0 VBUS_nVALID INPUT PULLUP PJ3 VDD_5V_HIPOWER_nOC INPUT PULLUP PJ4 VDD_5V_PERIPH_nOC INPUT PULLUP # SPI devices SPIDEV adis16470 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 2*MHZ SPIDEV imu1_res SPI1 DEVID2 RESERVE_CS1 MODE3 2*MHZ 8*MHZ SPIDEV rm3100 SPI2 DEVID1 RM3100_CS MODE3 1*MHZ 1*MHZ SPIDEV imu2 SPI4 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ SPIDEV baro1 SPI4 DEVID2 BAROMETER1_CS MODE3 20*MHZ 20*MHZ SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV imu3 SPI6 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ SPIDEV baro2 SPI6 DEVID2 BAROMETER2_CS MODE3 20*MHZ 20*MHZ # two baro BARO MS56XX SPI:baro1 BARO MS56XX SPI:baro2 # three IMUs IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN IMU Invensensev3 SPI:imu1_res ROTATION_PITCH_180_YAW_270 IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_270 IMU Invensensev3 SPI:imu3 ROTATION_PITCH_180 define HAL_DEFAULT_INS_FAST_SAMPLE 7 # compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES COMPASS RM3100 SPI:rm3100 false ROTATION_NONE # 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 # red LED marked as B/E PI5 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0) PI6 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1) PI7 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2) define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0 define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1 define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2 # use pixracer style 3-LED indicators define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 # 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 PE2 LED_SAFETY OUTPUT PI13 SAFETY_IN INPUT PULLDOWN # build ABIN for flash-from-bootloader support: env BUILD_ABIN False # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 DMA_PRIORITY ADC* SPI1* TIM*UP* DMA_NOSHARE SPI1* TIM*UP* # Enable Sagetech MXS ADSB transponder define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED # define default battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_CURR_PIN 2 define HAL_BATT_VOLT_PIN 16 define HAL_BATT_CURR_SCALE 60.61 define HAL_BATT_VOLT_SCALE 15.7 # setup the parameter for the ADC rssi define BOARD_RSSI_ANA_PIN 9