mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
28d827cedc
this re-adds support for RTC into GPS peripherals that also log. This was removed as these boards were calling methods on the nullptr
222 lines
4.5 KiB
Plaintext
222 lines
4.5 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for H743 bootloader
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# USB setup
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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USB_PRODUCT 0x5001
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USB_STRING_MANUFACTURER "CubePilot"
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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env AP_PERIPH_HEAVY 1
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1037
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FLASH_SIZE_KB 2048
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors, we leave 2 sectors for BL
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FLASH_BOOTLOADER_LOAD_KB 256
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PB15 LED_SWITCH_2 OUTPUT HIGH
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PB14 LED_SWITCH_1 OUTPUT HIGH
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# board voltage
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STM32_VDD 330U
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7
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define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_None
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# USART3 F9
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART7 F9
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7 NODMA
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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###########################
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define AP_NOTIFY_PROFILED_SPI_ENABLED 1
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define DEFAULT_NTF_LED_TYPES Notify_LED_ProfiLED_SPI
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define NOTIFY_LED_LEN_DEFAULT 16
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define CONFIGURE_PPS_PIN TRUE
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define HAL_PERIPH_ENABLE_NOTIFY
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define HAL_PERIPH_NOTIFY_WITHOUT_RCOUT
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FLASH_RESERVE_START_KB 256
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define GPS_UBLOX_MOVING_BASELINE TRUE
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define HAL_GCS_ENABLED 1
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define HAL_LOGGING_ENABLED TRUE
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define HAL_PERIPH_ENABLE_RTC 1
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define HAL_NO_MONITOR_THREAD
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define HAL_DISABLE_LOOP_DELAY
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define USB_USE_WAIT TRUE
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define HAL_USE_USB_MSD 1
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define HAL_DEVICE_THREAD_STACK 2048
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#define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_STORAGE_SIZE 16384
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG
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define HAL_PERIPH_ENABLE_AHRS
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define AP_INERTIALSENSOR_ENABLED 1
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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PA4 MPU_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
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PF8 blank CS
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SPIDEV profiled SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 5
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# compass as part of ICM20948 on newer cubes
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
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# one baro
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#BARO MS56XX I2C:0:0x77
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PE4 CSPI4_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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PG15 CSPI6_CS CS
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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PF7 SPI5_SCK SPI5
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PF9 SPI5_MOSI SPI5
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# Now setup the pins for the microSD card, if available.
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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define BOARD_SER1_RTSCTS_DEFAULT 0
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define HAL_OS_FATFS_IO 1
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define HAL_WITH_DRONECAN 1
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env HAL_WITH_DRONECAN 1
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define HAL_PICCOLO_CAN_ENABLE 0
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define AP_CAN_SLCAN_ENABLED 1
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PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
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PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
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#gps f9
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PD10 F91TXR INPUT
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PD11 F92RST INPUT
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PD13 F93SB INPUT
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PD14 F94EXTINT INPUT
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PD15 F95RSV1 INPUT
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PG2 F97 INPUT GPIO(100)
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PG3 F96RSV2 INPUT
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PD4 RTKSTAT INPUT
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PD5 GEOFENCESTAT INPUT
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#others
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PG10 can2int INPUT
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PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW
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PF1 GNDDET2 INPUT
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PF2 GNDDET1 INPUT
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PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
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PD6 TERMCAN1 OUTPUT LOW GPIO(3)
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PB3 TERMCAN2 OUTPUT LOW GPIO(4)
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#sensor enable
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PC0 SENSEN OUTPUT HIGH
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PB1 IMUINT INPUT
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PB4 QCAN2INT0 INPUT
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PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW
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PE0 QCAN1INT INPUT
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PE1 QCAN1INT0 INPUT
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PE3 QCAN1INT1 INPUT
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PD7 QCAN2INT1 INPUT
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PA8 QCAN12OSC1 INPUT
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# This defines more ADC inputs.
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PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
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PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)
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# This input pin is used to detect that power is valid on USB.
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PA9 VBUS INPUT
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PH13 VDD_33V_SENS INPUT
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# This defines some input pins, currently unused.
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PB2 BOOT1 INPUT
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# disabled compass cal as it doesn't work for now
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# define COMPASS_CAL_ENABLED 1
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define HAL_ENABLE_SLCAN 1
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# passthrough CAN1
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define HAL_DEFAULT_CPORT 1
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define CONFIGURE_PPS_PIN TRUE
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define AP_PERIPH_HAVE_LED TRUE
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define AP_SCRIPTING_ENABLED 1
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define SCRIPTING_HEAP_SIZE (64*1024)
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define GPS_MOVING_BASELINE 1
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define AP_RC_CHANNEL_ENABLED 1
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define AP_RELAY_ENABLED 1
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define AP_SERVORELAYEVENTS_ENABLED 1
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# bootloader embedding / bootloader flashing not available
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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