mirror of
https://github.com/ArduPilot/ardupilot
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9e035518c7
Update README.md: add bluetooth introduction to features Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about SERIAL8 Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about RC Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: add description about "LED" pin Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about Loading Firmware Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about update firmware Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> remove defaults.parm and defined default params in hwdef file Update README.md: fix description about osd Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> remove parameter define about serial4 Update README.md: add a section about BlueTooth
176 lines
4.1 KiB
Plaintext
176 lines
4.1 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for the MicoAir743v2 hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_MicoAir743v2
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# flash size
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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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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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
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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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# UARTs
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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PB6 UART5_TX UART5
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PB5 UART5_RX UART5
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PE8 UART7_TX UART7
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PE7 UART7_RX UART7
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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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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# order of I2C
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I2C_ORDER I2C2 I2C1
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# I2C
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# PWM
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) BIDIR
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PB1 TIM3_CH4 TIM3 PWM(5) GPIO(54) BIDIR
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PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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PE5 TIM15_CH1 TIM15 PWM(9) GPIO(58)
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PE6 TIM15_CH2 TIM15 PWM(10) GPIO(59)
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# LED-pad
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PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) #M11
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# BUZZER
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PD15 BUZZER OUTPUT GPIO(61) LOW
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define HAL_BUZZER_PIN 61
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# 11 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 11
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# LEDs
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PE3 LED_RED OUTPUT LOW GPIO(0)
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PE2 LED_GREEN OUTPUT LOW GPIO(1)
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PE4 LED_BLUE OUTPUT LOW GPIO(2)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# ADC for Power
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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# setup for battery
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 21.12
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define HAL_BATT_CURR_SCALE 40.2
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# compass
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define HAL_COMPASS_DISABLE_QMC5883L_INTERNAL_PROBE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS QMC5883L I2C:ALL_EXTERNAL:0x0D true ROTATION_NONE
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COMPASS QMC5883L I2C:ALL_INTERNAL:0x0D false ROTATION_NONE
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# microSD support
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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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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define FATFS_HAL_DEVICE SDCD1
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# SPI1 - OSD
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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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PB12 AT7456E_CS CS
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# SPI2 - BMI088
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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PD5 BMI088_G_CS CS
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PD4 BMI088_A_CS CS
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PC15 DRDY1_BMI088_G INPUT
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PC14 DRDY2_BMI088_A INPUT
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# SPI3 - BMI270
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PD6 SPI3_MOSI SPI3
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PA15 BMI270_CS CS
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PB7 DRDY3_BMI270 INPUT
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# SPI devices
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SPIDEV bmi088_a SPI2 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI2 DEVID2 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi270 SPI3 DEVID3 BMI270_CS MODE3 1*MHZ 10*MHZ
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SPIDEV osd SPI1 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
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# 2 IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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# barometers
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BARO SPL06 I2C:0:0x77
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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 serial ports
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
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define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_MAVLink2
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define DEFAULT_SERIAL8_BAUD 115
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# setup for BF migration
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define HAL_FRAME_TYPE 12 |