# hw definition file for processing by chibios_hwdef.py # for CUAV-7-Nano board # default to all pins low to avoid ESD issues DEFAULTGPIO OUTPUT LOW PULLDOWN # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 16000000 # ChibiOS system timer STM32_ST_USE_TIMER 2 # board ID for firmware load APJ_BOARD_ID 7000 # bootloader takes first sector FLASH_RESERVE_START_KB 128 # to be compatible with the px4 bootloader we need # to use a different RAM_MAP env USE_ALT_RAM_MAP 1 # flash size FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 # order of UARTs (and USB) SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART3 OTG2 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA9 VBUS INPUT OPENDRAIN # pins for SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # telem1 PE8 UART7_TX UART7 PF6 UART7_RX UART7 PF8 UART7_RTS UART7 PE10 UART7_CTS UART7 # telem2 PC8 UART5_RTS UART5 PC9 UART5_CTS UART5 PC12 UART5_TX UART5 PD2 UART5_RX UART5 # GPS1 PB6 USART1_TX USART1 PB7 USART1_RX USART1 # GPS2 PE0 UART8_RX UART8 PE1 UART8_TX UART8 # debug uart PD8 USART3_TX USART3 PD9 USART3_RX USART3 # uart6, RX only, RC input, if no IOMCU PC7 USART6_RX USART6 # ethernet PC1 ETH_MDC ETH1 PA2 ETH_MDIO ETH1 PC4 ETH_RMII_RXD0 ETH1 PC5 ETH_RMII_RXD1 ETH1 PG13 ETH_RMII_TXD0 ETH1 PG12 ETH_RMII_TXD1 ETH1 PB11 ETH_RMII_TX_EN ETH1 PA7 ETH_RMII_CRS_DV ETH1 PA1 ETH_RMII_REF_CLK ETH1 #PG15 ETH_POWER_EN ETH1 PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet define BOARD_PHY_ID MII_LAN8742A_ID define BOARD_PHY_RMII # ADC PA0 SCALED1_V3V3 ADC1 SCALE(2) PA4 SCALED2_V3V3 ADC1 SCALE(2) PB1 VDD_5V_SENS ADC1 SCALE(2) PC0 RSSI_IN ADC1 SCALE(1) PF12 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3) # analog in PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(9) PB0 BATT_CURRENT_SENS ADC1 SCALE(1) ANALOG(8) # pin7 on AD&IO, analog 12 PF3 ADC3_6V6 ADC3 SCALE(2) ANALOG(12) # pin6 on AD&IO, analog 13 PC3 ADC1_3V3 ADC1 SCALE(1) ANALOG(13) define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 9 define HAL_BATT_CURR_PIN 8 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 # SPI1 - IIM42652 PA5 SPI1_SCK SPI1 PB5 SPI1_MOSI SPI1 PG9 SPI1_MISO SPI1 PI9 IIM42652_CS CS PF2 IIM42652_DRDY INPUT # SPI2 - BMI088 PI1 SPI2_SCK SPI2 PI2 SPI2_MISO SPI2 PI3 SPI2_MOSI SPI2 PH5 BMI088_A_CS CS PG2 BMI088_G_CS CS PG3 BMI088_DRDY_GYR INPUT PA10 BMI088_DRDY_ACC INPUT # SPI4 - BMP581 PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 PD15 BMP581_CS CS PG1 BMP581_DRDY INPUT # SPI5 - FRAM PF7 SPI5_SCK SPI5 PH7 SPI5_MISO SPI5 PF11 SPI5_MOSI SPI5 PG7 FRAM_CS CS # SPI devices SPIDEV bmi088_g SPI2 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI2 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ SPIDEV iim42652 SPI1 DEVID1 IIM42652_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV bmp581 SPI4 DEVID1 BMP581_CS MODE3 7.5*MHZ 12*MHZ # PWM output pins PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) PE11 TIM1_CH2 TIM1 PWM(7) GPIO(56) PE9 TIM1_CH1 TIM1 PWM(8) GPIO(57) PI6 TIM8_CH2 TIM8 PWM(9) GPIO(58) PI7 TIM8_CH3 TIM8 PWM(10) GPIO(59) PI5 TIM8_CH1 TIM8 PWM(11) GPIO(60) PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) # we need to disable DMA on the last 2 FMU channels # as timer 12 doesn't have a TIMn_UP DMA option PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # control for silent (no output) for CAN PE2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) PI8 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) # I2C buses # I2C1, GPS+MAG PB9 I2C1_SDA I2C1 PB8 I2C1_SCL I2C1 # I2C2, GPS2+MAG PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 # I2C3, IST8310 PA8 I2C3_SCL I2C3 PH8 I2C3_SDA I2C3 # I2C4, ICM20100 PF14 I2C4_SCL I2C4 PF15 I2C4_SDA I2C4 PG5 DRDY1_ICP20100 INPUT # order of I2C buses I2C_ORDER I2C3 I2C4 I2C1 I2C2 define HAL_I2C_INTERNAL_MASK 3 # armed indication PE7 nARMED OUTPUT HIGH # power enable pins PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH PH2 VDD_3V3_SENSORS3_EN OUTPUT HIGH # start peripheral power off, then enable after init # this prevents a problem with radios that use RTS for # bootloader hold PG10 VDD_5V_HIPOWER_EN OUTPUT HIGH PG4 VDD_5V_PERIPH_EN OUTPUT HIGH # power sensing PE15 VDD_5V_PERIPH_nOC INPUT PULLUP PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP # Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v, 3.3v default PG8 PWM_VOLT_SEL OUTPUT LOW GPIO(80) define HAL_GPIO_PWM_VOLT_PIN 80 define HAL_GPIO_PWM_VOLT_3v3 0 # microSD support PD6 SDMMC2_CK SDMMC2 PD7 SDMMC2_CMD SDMMC2 PB14 SDMMC2_D0 SDMMC2 PB15 SDMMC2_D1 SDMMC2 PG11 SDMMC2_D2 SDMMC2 PB4 SDMMC2_D3 SDMMC2 define FATFS_HAL_DEVICE SDCD2 # safety PD10 LED_SAFETY OUTPUT PF5 SAFETY_IN INPUT PULLDOWN # LEDs PE3 LED_RED OUTPUT GPIO(90) LOW PE4 LED_GREEN OUTPUT GPIO(91) LOW PE5 LED_BLUE OUTPUT GPIO(92) LOW # setup for "pixracer" RGB LEDs define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90 define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91 define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92 define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 # ID pins PG0 HW_VER_REV_DRIVE OUTPUT LOW # PH3 HW_VER_SENS ADC3 SCALE(1) # PH4 HW_REV_SENS ADC3 SCALE(1) # PWM output for buzzer PF9 TIM14_CH1 TIM14 GPIO(77) ALARM # RC input PC6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW # other I2C devices # 24LC64T eeprom 64Kbit, address 0x50 on I2C4 BARO BMP581 SPI:bmp581 BARO ICP201XX I2C:1:0x63 # compass define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90 COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_90_YAW_90 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 # IMUs IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_90_YAW_90 IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_90 define HAL_DEFAULT_INS_FAST_SAMPLE 3 # 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 DMA_PRIORITY TIM5* SDMMC* USART6* ADC* UART* USART* SPI* TIM* # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 # enable DFU reboot for installing bootloader # note that if firmware is build with --secure-bl then DFU is # disabled ENABLE_DFU_BOOT 1