mirror of
https://github.com/ArduPilot/ardupilot
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202 lines
4.5 KiB
Plaintext
202 lines
4.5 KiB
Plaintext
# Processed by chibios_hwdef.py
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include common.inc
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# Bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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# Use last 2 pages for flash storage
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# H743 has 16 pages of 128k each
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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# To be compatible with the px4 bootloader we need
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# to use a different RAM_MAP
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env USE_ALT_RAM_MAP 1
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SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2
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# Debug console
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STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 57600
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# Default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# Telem
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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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PF8 UART7_RTS UART7
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PE10 UART7_CTS UART7
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# VTX (DJI Air Unit)
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
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# GPS
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# VTX (DJI Air Unit, RX only)
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PA3 USART2_RX USART2
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PD5 USART2_TX USART2 NODMA
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# TODO: DJI HDL?
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
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# ESC Telem (RX only)
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PH13 UART4_TX UART4 NODMA
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PH14 UART4_RX UART4
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
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define DEFAULT_SERIAL5_BAUD 115
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define HAL_SERIAL_ESC_COMM_ENABLED 1
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define HAL_WITH_ESC_TELEM 1
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# RC Input
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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# ADCs
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PA0 SCALED1_V3V3 ADC1 SCALE(2)
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PB1 VDD_5V_SENS ADC1 SCALE(2)
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# 12V monitor
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PA4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(7.66)
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PB0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# Analog battery input scaling
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# See STM32H743xx.py
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define HAL_BATT_VOLT_PIN 9
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 21
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define HAL_BATT_CURR_SCALE 120
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define HAL_BATT_MONITOR_DEFAULT 4
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# SPI1 - IIM42653 IMU
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PA5 SPI1_SCK SPI1
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PB5 SPI1_MOSI SPI1
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PG9 SPI1_MISO SPI1
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PI9 IMU1_CS CS
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PF2 IMU1_DRDY INPUT
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# SPI6 - external (SPI OSD or IMU)
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PB3 SPI6_SCK SPI6
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PA6 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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PI10 EXT1_CS CS
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PD11 DRDY_ADIS16507 INPUT GPIO(93)
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# GPIO(93) for data ready on ADIS16507
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# define ADIS_DRDY_PIN 93
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# Motors, see STM32H743xx.py
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PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR
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PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) BIDIR
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PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR
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PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) BIDIR
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PI5 TIM8_CH1 TIM8 PWM(5) GPIO(54)
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PI6 TIM8_CH2 TIM8 PWM(6) GPIO(55)
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PI7 TIM8_CH3 TIM8 PWM(7) GPIO(56)
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PI2 TIM8_CH4 TIM8 PWM(8) GPIO(57)
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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# PWM output for buzzer
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PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# I2C1 (GPS1 compass, external)
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2 (BMP390 baro, internal)
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# I2C4 (IIS2MDC compass, internal)
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C1 I2C2 I2C4
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define HAL_I2C_INTERNAL_MASK 6
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# IMU heater
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PB10 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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# TODO: should we use this?
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# define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
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# Armed indication
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PE6 nARMED OUTPUT HIGH
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# Power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
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# 12V enable, start with it ON
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PG4 VDD_5V_PERIPH_EN OUTPUT HIGH
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# Power sensing
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# 12V PGOOD
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PE15 VDD_5V_PERIPH_nOC INPUT FLOATING
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# 5V PGOOD
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PF13 VDD_5V_HIPOWER_nOC INPUT FLOATING
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# 5V_ON_BATn
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PG1 VDD_BRICK_nVALID INPUT FLOATING
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# LEDs
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PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
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PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
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PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# ID pins
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PG0 HW_VER_REV_DRIVE OUTPUT LOW
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PH4 HW_REV_SENS ADC3 SCALE(1)
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# Barometer on i2c_2
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BARO BMP388 I2C:1:0x76
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# Compass
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COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define AP_COMPASS_IIS2MDC_ENABLED 1
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# IIM42653 IMU on SPI1
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SPIDEV iim42653 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:iim42653 ROTATION_YAW_270
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# SPI6 external bus
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# SPIDEV adis16507 SPI6 DEVID1 EXT1_CS MODE3 1*MHZ 2*MHZ
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# IMU ADIS1647x SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# Prioritze SD logging and IMU
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DMA_PRIORITY SDMMC* SPI*
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# Bidir DShot timers cannot share DMA
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DMA_NOSHARE SPI* TIM5* TIM8*
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# Enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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# Setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport
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