# hw definition file for processing by chibios_pins.py # MCU class and specific type # MCU class and specific type MCU STM32F7xx STM32F732xx # bootloader starts firmware at 64k FLASH_RESERVE_START_KB 64 # store parameters in pages 2 and 3 STORAGE_FLASH_PAGE 2 define HAL_STORAGE_SIZE 8192 # board ID for firmware load APJ_BOARD_ID 1028 # setup build for a peripheral firmware env AP_PERIPH 1 STM32_ST_USE_TIMER 5 # crystal frequency OSCILLATOR_HZ 16000000 define CH_CFG_ST_FREQUENCY 1000000 # assume 512k flash part FLASH_SIZE_KB 512 # order of UARTs SERIAL_ORDER OTG1 USART2 USART3 # a LED to flash (disabled as used for safety LED) # PA6 LED OUTPUT HIGH # define HAL_LED_ON 0 # USART2 for F9P GPS UART2 PA2 USART2_TX USART2 NODMA PA3 USART2_RX USART2 NODMA # USART3 for F9P GPS UART1 PB10 USART3_TX USART3 PB11 USART3_RX USART3 # Now we define the pins that USB is connected on. PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # two I2C buses PB7 I2C1_SDA I2C1 PB6 I2C1_SCL I2C1 PC9 I2C3_SDA I2C3 PA8 I2C3_SCL I2C3 # adjust I2C timing from Stm32CubeMX, with 100ns rise, 100ns fall define HAL_I2C_F7_100_TIMINGR 0x10906999 define HAL_USE_I2C TRUE define STM32_I2C_USE_I2C1 TRUE define STM32_I2C_USE_I2C3 TRUE define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_I2C_INTERNAL_MASK 3 I2C_ORDER I2C1 I2C3 # one SPI bus PB3 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PC12 SPI3_MOSI SPI3 # SPI CS PA15 IMU_CS CS # SPI devices SPIDEV lsm6ds3 SPI3 DEVID1 IMU_CS MODE0 1*MHZ 8*MHZ # compass COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_PITCH_90 # baro BARO BMP388 I2C:0:0x77 # safety LED, active low is same as main LED PA6 SAFE_LED OUTPUT HIGH define SAFE_LED_ON 0 # safety button PC14 SAFE_BUTTON INPUT FLOATING define HAL_SAFE_BUTTON_ON 1 define HAL_BARO_ALLOW_INIT_NO_BARO define HAL_USE_ADC FALSE define STM32_ADC_USE_ADC1 FALSE define HAL_DISABLE_ADC_DRIVER TRUE define HAL_NO_GPIO_IRQ # avoid RCIN thread to save memory define HAL_NO_RCIN_THREAD define DMA_RESERVE_SIZE 0 define HAL_DISABLE_LOOP_DELAY # enable CAN support PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 define CAN_APP_NODE_NAME "org.ardupilot.FreeflyRTK" define HAL_NO_MONITOR_THREAD define HAL_DEVICE_THREAD_STACK 768 # we setup a small defaults.parm define AP_PARAM_MAX_EMBEDDED_PARAM 256 # disable dual GPS and GPS blending to save flash space define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define GPS_MOVING_BASELINE 1 define HAL_COMPASS_MAX_SENSORS 1 # GPS+MAG+BARO+Buzzer+NeoPixels define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_NOTIFY # use NCP5623 RGB LED on I2C1 define BUILD_DEFAULT_LED_TYPE 128 define BARO_MAX_INSTANCES 1 define HAL_PERIPH_GPS_PORT_DEFAULT 2 # listen for reboot command from uploader.py script # undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0 define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0