mirror of https://github.com/ArduPilot/ardupilot
294 lines
7.8 KiB
Plaintext
294 lines
7.8 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for H757
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# MCU class and specific type
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MCU STM32H7xx STM32H757xx
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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 0x1059
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USB_STRING_MANUFACTURER "CubePilot"
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USB_STRING_PRODUCT "CubeRed"
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define CORE_CM7
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define SMPS_PWR
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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 1069
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 128
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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define HAL_LED_ON 0
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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 the IMU heater
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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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define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
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# supports upto 8MBits/s
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CANFD_SUPPORTED 8
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# use last 2 pages for flash storage
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# H757 has 16 pages of 128k each
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STORAGE_FLASH_PAGE 14
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define HAL_STORAGE_SIZE 32768
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# ADC setup
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PF11 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(14)
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PC0 BATT_CURRENT_SENS ADC1 SCALE(1) ANALOG(15)
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PB1 AUX_POWER ADC2 SCALE(1) ANALOG(13) # AUX Volt
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PF12 AUX_ADC2 ADC1 SCALE(1) ANALOG(4) # AUX Curr
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define HAL_BATT_VOLT_PIN 14
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define HAL_BATT_CURR_PIN 15
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define HAL_BATT2_VOLT_PIN 13
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define HAL_BATT2_CURR_PIN 4
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define HAL_BATT_VOLT_SCALE 12.02
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define HAL_BATT_CURR_SCALE 39.877
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PF13 VDD_5V_SENS ADC2 SCALE(2) ANALOG(18)
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# And the analog input for airspeed (rarely used these days).
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PF3 PRESSURE_SENS ADC3 SCALE(2) ANALOG(8)
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PC3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(3) ANALOG(9)
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# CAN config
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PE10 GPIOCAN1_TERM OUTPUT HIGH
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PG4 GPIOCAN2_TERM OUTPUT HIGH
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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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# SPI1
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PE13 BARO_0_CS CS
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PE9 ICM42688_0_CS CS
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PB3 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2
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PD15 RM3100_CS CS
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PD14 ICM42688_1_CS CS
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PA9 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI4
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PF5 ICM_2_CS CS
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PC2 BARO_1_CS CS
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PE12 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# Sensors
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SPIDEV icm42688_0 SPI1 DEVID1 ICM42688_0_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ms5611_0 SPI1 DEVID2 BARO_0_CS MODE3 20*MHZ 20*MHZ
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SPIDEV icm42688_1 SPI2 DEVID1 ICM42688_1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 1*MHZ 1*MHZ
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SPIDEV icm20649 SPI4 DEVID1 ICM_2_CS MODE3 4*MHZ 8*MHZ
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# alternative to icm20649
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SPIDEV icm45686 SPI4 DEVID1 ICM_2_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ms5611_1 SPI4 DEVID2 BARO_1_CS MODE3 20*MHZ 20*MHZ
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IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90
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IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270
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IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180
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IMU Invensensev3 SPI:icm45686 ROTATION_YAW_180
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BARO MS56XX SPI:ms5611_0
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BARO MS56XX SPI:ms5611_1
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COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270
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CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
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CHECK_ICM45686_2 spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM42688_0 spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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CHECK_ICM45686_0 spi_check_register("icm42688_0", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM42688_1 spi_check_register("icm42688_1", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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CHECK_ICM45686_1 spi_check_register("icm42688_1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_MS5611_0 check_ms5611("ms5611_0")
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CHECK_MS5611_1 check_ms5611("ms5611_1")
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CHECK_IMU0_PRESENT $CHECK_ICM20649 || $CHECK_ICM45686_2
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CHECK_IMU1_PRESENT $CHECK_ICM42688_0 || $CHECK_ICM45686_0
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CHECK_IMU2_PRESENT $CHECK_ICM42688_1 || $CHECK_ICM45686_1
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CHECK_BARO0_PRESENT $CHECK_MS5611_0
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CHECK_BARO1_PRESENT $CHECK_MS5611_1
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BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT $CHECK_IMU1_PRESENT $CHECK_BARO1_PRESENT $CHECK_IMU2_PRESENT
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define HAL_CHIBIOS_ARCH_FMUV3 1
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define BOARD_TYPE_DEFAULT 3
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# MCO output
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PA8 RCC_MCO_1 OUTPUT LOW
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# I2C
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PF0 I2C2_SDA I2C2
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PF1 I2C2_SCL I2C2
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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I2C_ORDER I2C2 I2C4
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# Ethernet
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PB12 ETH_RMII_TXD0 ETH1
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PB13 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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define BOARD_PHY_ID MII_LAN8720_ID
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define BOARD_PHY_RMII
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# Refer to https://maclookup.app/vendors/cubepilot-pty-ltd
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# Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID
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define AP_NETWORKING_DEFAULT_MAC_ADDR "A8:B0:28:00:00:00"
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# RCIN
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PB7 TIM4_CH2 TIM4 RCININT PULLDOWN
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# QUADSPI
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PD11 QUADSPI_BK1_IO0 QUADSPI1
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PD12 QUADSPI_BK1_IO1 QUADSPI1
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PE2 QUADSPI_BK1_IO2 QUADSPI1
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PD13 QUADSPI_BK1_IO3 QUADSPI1
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PB10 QUADSPI_BK1_NCS QUADSPI1
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PB2 QUADSPI_CLK QUADSPI1
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# SDMMC
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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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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# SWD
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# GPIO
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PG5 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
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# Power flag pins: these tell the MCU the status of the various power
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# supplies that are available. The pin names need to exactly match the
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# names used in AnalogIn.cpp.
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PE15 VDD_BRICK_nVALID INPUT PULLUP
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PE4 VDD_BRICK2_nVALID INPUT PULLUP
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PF4 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PD10 VDD_5V_PERIPH_nOC INPUT PULLUP
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# This is the pin to enable the sensors rail. It can be used to power
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# cycle sensors to recover them in case there are problems with power on
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# timing affecting sensor stability. We pull it LOW on startup, which
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# means sensors off, then it is pulled HIGH in peripheral_power_enable()
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PG0 VDD_3V3_SENSORS_EN OUTPUT LOW
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# This defines an output pin which will default to output HIGH. It is
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# a pin that enables peripheral power on this board. It starts in the
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# off state, then is pulled low to enable peripherals in
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# peripheral_power_enable()
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PF2 nVDD_5V_PERIPH_EN OUTPUT LOW
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PA0 TIM5_CH1 TIM5 GPIO(79) ALARM
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PE3 VBUS_nVALID INPUT PULLUP
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# upper
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PG2 HEATER_EN OUTPUT LOW GPIO(81)
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# lower
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# PG1 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 81
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# define HAL_HEATER_GPIO_PIN2 80
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# Timer
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PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51) BIDIR
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PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR
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PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53) BIDIR
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PA6 TIM3_CH1 TIM3 PWM(5) GPIO(54) BIDIR
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PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR
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# UART
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PD1 UART4_TX UART4
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PD0 UART4_RX UART4
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PG15 USART6_CTS USART6
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PG8 USART6_RTS USART6
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# primary <-> secondary
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PE7 UART7_RX UART7 SPEED_VERYLOW LOW_NOISE
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PE8 UART7_TX UART7 SPEED_VERYLOW
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 OTG2 UART7
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EXT_FLASH_SIZE_MB 32
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INT_FLASH_PRIMARY 1
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# set protocol for UART7 to SerialProtocol_PPP
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_PPP
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define DEFAULT_SERIAL7_BAUD 8000000
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define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR "192.168.144.100"
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define AP_NETWORKING_DEFAULT_STATIC_NETMASK "255.255.255.0"
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define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR "192.168.144.11"
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define AP_NETWORKING_BACKEND_PPP 1
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