# hw definition file for processing by chibios_hwdef.py define HAL_CHIBIOS_ARCH_CUBE 1 # USB setup USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE USB_PRODUCT 0x1016 USB_STRING_MANUFACTURER "Hex/ProfiCNC" # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 24000000 # board ID for firmware load APJ_BOARD_ID 140 FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 FLASH_RESERVE_START_KB 128 define HAL_STORAGE_SIZE 32768 # order of I2C buses I2C_ORDER I2C2 I2C1 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2 # If the board has an IOMCU connected via a UART then this defines the # UART to talk to that MCU. Leave it out for boards with no IOMCU. # UART for IOMCU IOMCU_UART USART6 # UART4 serial GPS PA0 UART4_TX UART4 PA1 UART4_RX UART4 NODMA PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT_CURRENT_SENS ADC1 SCALE(1) # Now the VDD sense pin. This is used to sense primary board voltage. PA4 VDD_5V_SENS ADC1 SCALE(2) PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # This defines an output pin which will default to output HIGH. It is # a pin that enables peripheral power on this board. It starts in the # off state, then is pulled low to enable peripherals in # peripheral_power_enable() PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH # This is the pin that senses USB being connected. It is an input pin # setup as OPENDRAIN. PA9 VBUS INPUT OPENDRAIN # Now we define the pins that USB is connected on. PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # These are the pins for SWD debugging with a STlinkv2 or black-magic probe. PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # PWM output for buzzer PA15 TIM2_CH1 TIM2 GPIO(77) ALARM # This defines a couple of general purpose outputs, mapped to GPIO # numbers 1 and 2 for users. PB0 EXTERN_GPIO1 OUTPUT GPIO(1) PB1 EXTERN_GPIO2 OUTPUT GPIO(2) # This defines some input pins, currently unused. PB2 BOOT1 INPUT PB3 FMU_SW0 INPUT # This defines the pins for the 2nd CAN interface, if available. PB6 CAN2_TX CAN2 PB12 CAN2_RX CAN2 # Now the first I2C bus. The pin speeds are automatically setup # correctly, but can be overridden here if needed. PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # the 2nd I2C bus PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # the 2nd SPI bus PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # This input pin is used to detect that power is valid on USB. PC0 VBUS_nVALID INPUT PULLUP # This defines the CS pin for the magnetometer and first IMU. Note # that CS pins are software controlled, and are not tied to a particular # SPI bus. PC1 MAG_CS CS PC2 MPU_CS CS # This defines more ADC inputs. PC3 AUX_POWER ADC1 SCALE(1) PC4 AUX_ADC2 ADC1 SCALE(1) # And the analog input for airspeed (rarely used these days). PC5 PRESSURE_SENS ADC1 SCALE(2) # USART6 to IO PC6 USART6_TX USART6 PC7 USART6_RX USART6 # Now setup the pins for the microSD card, if available. PC8 SDMMC1_D0 SDMMC1 PC9 SDMMC1_D1 SDMMC1 PC10 SDMMC1_D2 SDMMC1 PC11 SDMMC1_D3 SDMMC1 PC12 SDMMC1_CK SDMMC1 PD2 SDMMC1_CMD SDMMC1 # More CS pins for more sensors. The labels for all CS pins need to # match the SPI device table later in this file. PC13 GYRO_EXT_CS CS PC14 BARO_EXT_CS CS PC15 ACCEL_EXT_CS CS PD7 BARO_CS CS PE4 MPU_EXT_CS CS # the first CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 # Another USART, this one for telem1. This one has RTS and CTS lines. # USART2 serial2 telem1 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 # telem1 RTS and CTS as GPIO in alt config 1 PD3 EXTERN_GPIO4 OUTPUT GPIO(4) ALT(1) PD4 EXTERN_GPIO5 OUTPUT GPIO(5) ALT(1) # The telem2 USART, also with RTS/CTS available. # USART3 serial3 telem2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 # The CS pin for FRAM (ramtron). This one is marked as using # SPEED_VERYLOW, which matches the HAL_PX4 setup. PD10 FRAM_CS CS SPEED_VERYLOW # Now we start defining some PWM pins. We also map these pins to GPIO # values, so users can set BRD_PWM_COUNT to choose how many of the PWM # outputs on the primary MCU are setup as PWM and how many as # GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs # starting at 50. PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) # Pin for PWM Voltage Selection PB4 PWM_VOLT_SEL OUTPUT HIGH GPIO(3) # This is the invensense data-ready pin. We don't use it in the # default driver. PD15 MPU_DRDY INPUT # the 2nd GPS UART # UART8 serial4 GPS2 PE0 UART8_RX UART8 PE1 UART8_TX UART8 NODMA # Now setup SPI bus4. PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # This is the pin to enable the sensors rail. It can be used to power # cycle sensors to recover them in case there are problems with power on # timing affecting sensor stability. We pull it LOW on startup, which # means sensors off, then it is pulled HIGH in peripheral_power_enable() PE3 VDD_3V3_SENSORS_EN OUTPUT LOW # UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters). PE7 UART7_RX UART7 PE8 UART7_TX UART7 # Define a LED, mapping it to GPIO(0). LOW will illuminate the LED PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0) # Power flag pins: these tell the MCU the status of the various power # supplies that are available. The pin names need to exactly match the # names used in AnalogIn.cpp. PB5 VDD_BRICK_nVALID INPUT PULLUP PB7 VDD_BRICK2_nVALID INPUT PULLUP PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP PE15 VDD_5V_PERIPH_nOC INPUT PULLUP SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV icm20602_ext SPI4 DEVID4 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ # three IMUs, but allow for different variants. First two IMUs are # isolated, 3rd isn't IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180 # the 3 rotations for the LSM9DS0 driver are for the accel, the gyro # and the H variant of the gyro IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90 # 3rd non-isolated IMU IMU Invensense SPI:mpu9250 ROTATION_YAW_270 # alternative IMU set for newer cubes IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 # Sensor Check alias for validating board type CHECK_ICM20649 spi_check_register_inv2("icm20948", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) CHECK_ICM20602_EXT spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) CHECK_ICM20948_EXT spi_check_register_inv2("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948) CHECK_MS5611 check_ms5611("ms5611") CHECK_MS5611_EXT check_ms5611("ms5611_ext") # Sensor Check Macros to be used for validating board type CHECK_IMU0_PRESENT $CHECK_ICM20602_EXT CHECK_IMU1_PRESENT $CHECK_ICM20948_EXT CHECK_IMU2_PRESENT $CHECK_ICM20649 CHECK_BARO0_PRESENT $CHECK_MS5611 CHECK_BARO1_PRESENT $CHECK_MS5611_EXT BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT define HAL_DEFAULT_INS_FAST_SAMPLE 7 # two baros BARO MS56XX SPI:ms5611_ext BARO MS56XX SPI:ms5611 # two compasses. First is in the LSM303D COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270 # 2nd compass is part of the 2nd invensense IMU COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270 # compass as part of ICM20948 on newer cubes COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90 # offset the internal compass for EM impact of the IMU heater # this is in sensor frame mGauss define HAL_AK09916_HEATER_OFFSET Vector3f(30,10,235) # also probe for external compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_CHIBIOS_ARCH_FMUV3 1 define BOARD_TYPE_DEFAULT 3 # Nnow some defines for logging and terrain data files. define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 # Enable RAMTROM parameter storage. define HAL_WITH_RAMTRON 1 # Setup the IMU heater define HAL_HAVE_IMU_HEATER 1 define HAL_IMU_TEMP_DEFAULT 45 define HAL_IMUHEAT_P_DEFAULT 50 define HAL_IMUHEAT_I_DEFAULT 0.07 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 # Enable all IMUs to be used and therefore three active EKF Lanes define HAL_EKF_IMU_MASK_DEFAULT 7 # Enable FAT filesystem support (needs a microSD defined via SDMMC). define HAL_OS_FATFS_IO 1 # Now setup the default battery pins driver analog pins and default # scaling for the power brick. define HAL_BATT_VOLT_PIN 14 define HAL_BATT_CURR_PIN 15 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 define HAL_GPIO_PWM_VOLT_PIN 3 define HAL_GPIO_PWM_VOLT_3v3 1 # List of files to put in ROMFS. For fmuv3 we need an IO firmware so # we can automatically update the IOMCU firmware on boot. The format # is "ROMFS ROMFS-filename source-filename". Paths are relative to the # ardupilot root. ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin DMA_NOSHARE SPI1* SPI4* USART6*