# hw definition file for processing by chibios_hwdef.py for rFCU # internal use only board AUTOBUILD_TARGETS None # MCU class and specific type MCU STM32H7xx STM32H743xx DEFAULTGPIO OUTPUT LOW PULLDOWN # crystal frequency OSCILLATOR_HZ 16000000 # board ID for firmware load APJ_BOARD_ID 1102 FLASH_SIZE_KB 2048 # with 2M flash we can afford to optimize for speed env OPTIMIZE -O2 # ChibiOS system timer STM32_ST_USE_TIMER 2 # bootloader takes first sector FLASH_RESERVE_START_KB 128 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART6 USART1 UART4 UART8 UART7 OTG2 # 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 # SPI1 - internal sensors PG11 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 # SPI2 - FRAM PI1 SPI2_SCK SPI2 PI2 SPI2_MISO SPI2 PI3 SPI2_MOSI SPI2 # SPI4 - sensors2 PE2 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # SPI5 - external1 PF7 SPI5_SCK SPI5 PF8 SPI5_MISO SPI5 PF9 SPI5_MOSI SPI5 # SPI6 - external2 PG13 SPI6_SCK SPI6 PG12 SPI6_MISO SPI6 PA7 SPI6_MOSI SPI6 # sensor CS pins PF10 ADIS16470_CS CS PF3 ICM42688_SPI4_CS CS PG10 MS5611_SPI4_CS CS PF5 FRAM_CS CS SPEED_VERYLOW PF2 RM3100_CS CS PI4 EXT1_CS1 CS PI10 EXT1_CS2 CS PI12 ICM42688_SPI6_CS CS PI8 MS5611_SPI6_CS CS # I2C buses # I2C1 is on GPS port PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 # I2C2 on GPS2 connector PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 # I2C3 for onboard mag PH7 I2C3_SCL I2C3 PH8 I2C3_SDA I2C3 # I2C4 is on BDMA on DMAMUX2 PF14 I2C4_SCL I2C4 PF15 I2C4_SDA I2C4 # order of I2C buses I2C_ORDER I2C3 I2C1 I2C2 I2C4 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 PB0 VDD_5V_PERIPH_EN OUTPUT LOW PG5 VDD_5V_RC_EN OUTPUT HIGH PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH # drdy pins PE7 DRDY_ADIS16470 INPUT GPIO(93) PJ0 DRDY_ICM42688_SPI4 INPUT PH5 DRDY_ICM42688_SPI6 INPUT PE4 DRDY_RM3100 INPUT # use GPIO(93) for data ready on ADIS16470 define ADIS_DRDY_PIN 93 # UARTs # USART2 is telem1 PD6 USART2_RX USART2 PD5 USART2_TX USART2 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 # USART1 is GPS1 PB7 USART1_RX USART1 NODMA PB6 USART1_TX USART1 NODMA # UART4 GPS2 PD0 UART4_RX UART4 NODMA PD1 UART4_TX UART4 NODMA # USART6 is telem2 PG9 USART6_RX USART6 PG14 USART6_TX USART6 PG15 USART6_CTS USART6 PG8 USART6_RTS USART6 # UART7 is debug PF6 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # SBUS, DSM port PE0 UART8_RX UART8 PE1 UART8_TX UART8 # PWM AUX channels PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50) PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51) PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52) PI0 TIM5_CH4 TIM5 PWM(4) GPIO(53) PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55) PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58) PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59) PA10 TIM1_CH3 TIM1 PWM(11) GPIO(60) PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61) PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA # allow for 14 PWMs by default # PWM output for buzzer PE5 TIM15_CH1 TIM15 GPIO(77) ALARM # RC input, disabled, connected to same pin as UART8_RX, we prefer serial protocols # PB4 TIM3_CH1 TIM3 RCININT PULLDOWN LOW # analog in PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA1 BATT_CURRENT_SENS ADC1 SCALE(1) PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1) PF11 BATT2_CURRENT_SENS ADC1 SCALE(1) # ADC3.3/ADC6.6 PC4 SPARE1_ADC1 ADC1 SCALE(1) PA4 SPARE2_ADC1 ADC1 SCALE(1) PF12 RSSI_IN ADC1 SCALE(1) PC5 VDD_5V_SENS ADC1 SCALE(2) PC1 SCALED_V3V3 ADC1 SCALE(2) # CAN bus PI9 CAN1_RX CAN1 PH13 CAN1_TX CAN1 # 2nd CAN bus. Cannot be used at same time as USB_HS PB12 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # control for silent (no output) for CAN PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) # GPIOs define HAL_HAVE_IMU_HEATER 1 # use 2nd IMU for temperature reference. The ADIS has too much thermal # mass to control reasonably define AP_HEATER_IMU_INSTANCE 1 # heaters require 2 GPIOs to go high to enable a single heater PA8 HEATER_EN OUTPUT LOW GPIO(80) # isolated IMU, GPIO1 PF4 HEATER2_EN OUTPUT LOW GPIO(81) # isolated IMU, GPIO2 PH15 HEATER3_EN OUTPUT LOW GPIO(82) # control board, GPIO1 PB5 HEATER4_EN OUTPUT LOW GPIO(83) # control board, GPIO2 define HAL_HEATER_GPIO_PIN 80 define HAL_HEATER2_GPIO_PIN 81 define HAL_HEATER3_GPIO_PIN 82 define HAL_HEATER4_GPIO_PIN 83 # the heater impacts the RM3100 compass define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SPI,1,0x2,0x11),Vector3f(60,7,-11)} PG1 VDD_BRICK_nVALID INPUT PULLUP # for PowerA PG2 VDD_BRICK2_nVALID INPUT PULLUP # for PowerB PG0 VDD_BRICK3_nVALID INPUT PULLUP # for PowerC # MCU power validity monitoring PD10 MCU_VALID1 INPUT PJ5 MCU_VALID2 INPUT PA9 VBUS_VALID INPUT PULLUP PJ3 VDD_5V_HIPOWER_nOC INPUT PULLUP PJ4 VDD_5V_PERIPH_nOC INPUT PULLUP # SPI devices SPIDEV adis16470 SPI1 DEVID1 ADIS16470_CS MODE3 1*MHZ 2*MHZ SPIDEV rm3100 SPI1 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV icm42688_1 SPI4 DEVID1 ICM42688_SPI4_CS MODE3 2*MHZ 16*MHZ SPIDEV ms5611_1 SPI4 DEVID2 MS5611_SPI4_CS MODE3 20*MHZ 20*MHZ SPIDEV bmp390_1 SPI4 DEVID2 MS5611_SPI4_CS MODE3 10*MHZ 10*MHZ SPIDEV icm42688_2 SPI6 DEVID1 ICM42688_SPI6_CS MODE3 2*MHZ 16*MHZ SPIDEV ms5611_2 SPI6 DEVID2 MS5611_SPI6_CS MODE3 20*MHZ 20*MHZ SPIDEV bmp390_2 SPI6 DEVID2 MS5611_SPI4_CS MODE3 10*MHZ 10*MHZ # two baro, could be either 2 MS5611 or 2 BMP390 BARO MS56XX SPI:ms5611_1 BARO MS56XX SPI:ms5611_2 BARO BMP388 SPI:bmp390_1 BARO BMP388 SPI:bmp390_2 # three IMUs, one ADIS, 2x ICM42688 IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180_YAW_90 ADIS_DRDY_PIN IMU Invensensev3 SPI:icm42688_1 ROTATION_ROLL_180_YAW_90 IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 7 # compasses define HAL_PROBE_EXTERNAL_I2C_COMPASSES COMPASS RM3100 SPI:rm3100 false ROTATION_ROLL_180_YAW_90 # 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 PB2 SDCARD_DETECT INPUT # red LED marked as B/E PI5 LED_R1 OUTPUT HIGH GPIO(0) # red PI6 LED_G1 OUTPUT LOW GPIO(1) # green PI7 LED_B1 OUTPUT HIGH GPIO(2) # blue define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_LED_ON 1 define HAL_GPIO_LED_OFF 0 # use pixracer style 3-LED indicators define HAL_HAVE_PIXRACER_LED # 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 PE12 LED_SAFETY OUTPUT PE10 SAFETY_IN INPUT PULLDOWN # 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* # default to 45C target temp define HAL_IMU_TEMP_DEFAULT 45