mirror of https://github.com/ArduPilot/ardupilot
238 lines
4.9 KiB
Plaintext
238 lines
4.9 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
|
|
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 16000000
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1123
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
# with 2M flash we can afford to optimize for speed
|
|
env OPTIMIZE -O2
|
|
|
|
# bootloader takes first sector
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART2 EMPTY USART1 UART4 EMPTY UART7 OTG2
|
|
|
|
# default the 2nd interface to MAVLink2
|
|
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
|
|
|
|
# USB
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
# debug pins
|
|
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
|
|
|
|
# sensor CS
|
|
PF10 MS5611_CS CS
|
|
PF2 ICM20689_CS CS
|
|
PF4 BMI088_G_CS CS
|
|
PG10 BMI088_A_CS CS
|
|
PF5 FRAM_CS CS SPEED_VERYLOW
|
|
|
|
# I2C buses
|
|
|
|
# I2C1 is on GPS port
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
# I2C on uart4 connector
|
|
PF1 I2C2_SCL I2C2
|
|
PF0 I2C2_SDA I2C2
|
|
|
|
# I2C for onboard mag
|
|
PH7 I2C3_SCL I2C3
|
|
PH8 I2C3_SDA I2C3
|
|
|
|
# I2C4 is on external2
|
|
PF14 I2C4_SCL I2C4
|
|
PF15 I2C4_SDA I2C4
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C3 I2C1 I2C2 I2C4
|
|
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
# enable pins
|
|
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
|
|
PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
|
|
|
|
# drdy pins
|
|
PB4 DRDY_ICM20689 INPUT
|
|
PB14 DRDY_BMI088_GYRO INPUT
|
|
PB15 DRDY_BMI088_ACC INPUT
|
|
|
|
PD15 DRDY7_EXTERNAL INPUT
|
|
|
|
# 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
|
|
|
|
# UART7 is debug
|
|
PF6 UART7_RX UART7 NODMA
|
|
PE8 UART7_TX UART7 NODMA
|
|
|
|
# UART8 is for IOMCU
|
|
PE0 UART8_RX UART8
|
|
PE1 UART8_TX UART8
|
|
|
|
# UART for IOMCU
|
|
IOMCU_UART UART8
|
|
|
|
# PWM AUX channels
|
|
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
|
PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
|
|
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
|
|
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
|
|
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
|
|
|
# PWM output for buzzer
|
|
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
|
|
|
|
# analog in
|
|
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
PC0 VDD_5V_SENS ADC1 SCALE(2)
|
|
PC1 SCALED_V3V3 ADC1 SCALE(2)
|
|
|
|
# voltage divider 1/(16.9/(33+16.9))
|
|
define HAL_IOMCU_VSERVO_SCALAR 1 / (16.9 / (33 + 16.9))
|
|
|
|
# CAN bus
|
|
PI9 CAN1_RX CAN1
|
|
PH13 CAN1_TX CAN1
|
|
|
|
PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
|
|
|
# GPIOs
|
|
PA7 HEATER_EN OUTPUT LOW GPIO(80)
|
|
define HAL_HEATER_GPIO_PIN 80
|
|
|
|
define HAL_HAVE_IMU_HEATER 1
|
|
define HAL_IMU_TEMP_DEFAULT 45
|
|
|
|
PH5 AUX_CS CS
|
|
|
|
PG1 VDD_BRICK_nVALID INPUT PULLUP
|
|
PG2 VDD_BRICK2_nVALID INPUT PULLUP
|
|
PA9 VBUS INPUT
|
|
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
|
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
|
PB10 nSPI5_RESET_EXTERNAL OUTPUT HIGH
|
|
|
|
# SPI devices
|
|
SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ
|
|
SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV bmi088_g SPI1 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV bmi088_a SPI1 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
|
|
# Two IMUs
|
|
IMU Invensense SPI:icm20689 ROTATION_NONE
|
|
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 3
|
|
|
|
# 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
|
|
|
|
# red LED
|
|
PB1 LED_RED OUTPUT GPIO(90)
|
|
|
|
# green LED
|
|
PC6 LED_GREEN OUTPUT GPIO(91) LOW
|
|
|
|
# blue LED
|
|
PC7 LED_BLUE OUTPUT GPIO(92) HIGH
|
|
|
|
# setup for 2 LEDs
|
|
define AP_NOTIFY_GPIO_LED_2_ENABLED 1
|
|
define HAL_GPIO_A_LED_PIN 90
|
|
define HAL_GPIO_B_LED_PIN 92
|
|
|
|
# enable RAMTROM parameter storage
|
|
define HAL_STORAGE_SIZE 32768
|
|
define HAL_WITH_RAMTRON 1
|
|
|
|
# safety switch pin
|
|
PE10 LED_SAFETY OUTPUT
|
|
PE12 SAFETY_IN INPUT PULLDOWN
|
|
define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
# one baro
|
|
BARO MS56XX SPI:ms5611
|
|
|
|
# one builtin compass, plus one on the default GPS that is external with
|
|
# a non-default orientation
|
|
COMPASS IST8310 I2C:0:0x0e false ROTATION_PITCH_180_YAW_270
|
|
|
|
define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_270
|
|
|
|
# compensate for magnetic field generated by the heater on the internal IST8310
|
|
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0x0a),Vector3f(15,35,-6)}
|
|
|
|
# also probe for external compasses
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
# don't share IOMCU DMA
|
|
DMA_NOSHARE UART8* SPI1* TIM*UP*
|
|
|
|
DMA_PRIORITY UART8* ADC* SPI1*
|
|
|
|
# battery setup
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
define HAL_BATT_VOLT_PIN 16
|
|
define HAL_BATT_CURR_PIN 17
|
|
define HAL_BATT_VOLT_SCALE 18.182
|
|
define HAL_BATT_CURR_SCALE 36.364
|
|
|
|
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|