# hw definition file for processing by chibios_pins.py # for Diatone MambaH743 mk4 hardware. # MCU class and specific type MCU STM32H7xx STM32H743xx # board ID for firmware load APJ_BOARD_ID 1073 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 MCU_CLOCKRATE_MHZ 480 FLASH_SIZE_KB 2048 # ChibiOS system timer STM32_ST_USE_TIMER 12 define CH_CFG_ST_RESOLUTION 16 # leave 1 sectors free FLASH_RESERVE_START_KB 384 # use last 2 pages for flash storage # H743 has 16 pages of 128k each STORAGE_FLASH_PAGE 1 define HAL_STORAGE_SIZE 32768 # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 # one I2C bus I2C_ORDER I2C1 I2C2 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 # buzzer PE3 BUZZER OUTPUT LOW PULLDOWN GPIO(80) define HAL_BUZZER_PIN 80 define AP_NOTIFY_TONEALARM_ENABLED 1 # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 for BMI270 / MPU6000 PA4 MPU6000_CS CS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI2 for MAX7456 OSD PB12 MAX7456_CS CS PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI3 for flash PA15 FLASH_CS CS PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PB2 SPI3_MOSI SPI3 # SPI4 for MPU6000_2 PE11 MPU6000_2_CS CS PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 # I2C1 for baro PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # I2C2 for baro PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC3 BATT_CURRENT_SENS ADC1 SCALE(1) # define default battery setup define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 11 define HAL_BATT_CURR_PIN 13 define HAL_BATT_VOLT_SCALE 11.1 define HAL_BATT_CURR_SCALE 64 PC2 RSSI_ADC ADC1 define BOARD_RSSI_ANA_PIN 12 PE5 LED0 OUTPUT LOW GPIO(90) # blue PE4 LED1 OUTPUT LOW GPIO(91) # orange define HAL_GPIO_A_LED_PIN 91 define HAL_GPIO_B_LED_PIN 90 # USART1 (RX / SBUS) PA9 USART1_TX USART1 PA10 USART1_RX USART1 # USART2 (GPS) PD5 USART2_TX USART2 PD6 USART2_RX USART2 define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_GPS # USART3 (VTX) PD8 USART3_TX USART3 NODMA PD9 USART3_RX USART3 NODMA # UART4 (WiFi) PD1 UART4_TX UART4 NODMA PD0 UART4_RX UART4 NODMA # UART5 (SPORT) PC12 UART5_TX UART5 NODMA PD2 UART5_RX UART5 NODMA # USART6 (ESC Telemetry) PC6 USART6_TX USART6 NODMA PC7 USART6_RX USART6 NODMA # UART7 (GPS) PE8 UART7_TX UART7 PE7 UART7_RX UART7 PE1 UART8_TX UART8 NODMA PE0 UART8_RX UART8 NODMA define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN define DEFAULT_SERIAL1_BAUD 115 define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry define DEFAULT_SERIAL6_BAUD 115 # Motors PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) # VTX Power control - should be high at startup to ensure power PC5 VTX_PWR OUTPUT HIGH GPIO(81) define RELAY2_PIN_DEFAULT 81 # Motor order implies Betaflight/X for standard ESCs define HAL_FRAME_TYPE_DEFAULT 12 # LED strip PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) DMA_NOSHARE SPI3* SPI1* # spi devices SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ SPIDEV bmi270 SPI1 DEVID2 MPU6000_CS MODE3 1*MHZ 10*MHZ # Clock is 100Mhz so highest clock <= 10Mhz is 100Mhz/16 SPIDEV mpu6000_2 SPI4 DEVID4 MPU6000_2_CS MODE3 1*MHZ 4*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ # v2 board has dual ICM42688 SPIDEV icm42688 SPI1 DEVID1 MPU6000_CS MODE3 2*MHZ 16*MHZ SPIDEV icm42688_2 SPI4 DEVID4 MPU6000_2_CS MODE3 2*MHZ 16*MHZ # 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 # Two MPU6000s or one BMI270 IMU Invensense SPI:mpu6000 ROTATION_YAW_90 IMU Invensense SPI:mpu6000_2 ROTATION_YAW_180 IMU BMI270 SPI:bmi270 ROTATION_PITCH_180 IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180 IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180_YAW_270 define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25NXX # DPS280 or SPL06 integrated on I2C bus BARO DPS280 I2C:0:0x76 BARO SPL06 I2C:0:0x76 # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin define DEFAULT_NTF_LED_TYPES 257 define AP_SCRIPTING_ENABLED 0