mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 03:04:04 -04:00
163 lines
3.8 KiB
Plaintext
163 lines
3.8 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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define CORE_CM7
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define SMPS_PWR
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env OPTIMIZE -O3
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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 1070
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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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define IOMCU_FW TRUE
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define AP_FASTBOOT_ENABLED 1
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IOMCU_FW 1
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define HAL_USE_RTC FALSE
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define HAL_NO_UARTDRIVER TRUE
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define AP_CRASHDUMP_ENABLED 0
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define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# avoid timer threads to save memory
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define HAL_NO_TIMER_THREAD
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define HAL_NO_RCOUT_THREAD # also disables LED thread
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# ADC setup
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PF11 FMU_SERVORAIL_VCC_SENS ADC1
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PA6 RSSI_IN ADC1 SCALE(2)
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define HAL_IOMCU_RSSI_ADC_CHANNEL 3
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# CAN config
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PB14 GPIOCAN2_TERM OUTPUT LOW
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PC12 GPIOCAN1_SHUTDOWN OUTPUT HIGH
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PF1 GPIOCAN2_SHUTDOWN OUTPUT HIGH
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define HAL_CHIBIOS_ARCH_FMUV3 1
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define BOARD_TYPE_DEFAULT 3
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# RCIN
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PC8 TIM8_CH3 TIM8 RCININT PULLDOWN
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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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PD10 AMBER_LED OUTPUT HIGH OPENDRAIN GPIO(0)
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PE15 VDD_BRICK_nVALID INPUT PULLUP
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PG0 VDD_BRICK2_nVALID INPUT PULLUP
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PG5 VDD_SERVO_FAULT INPUT PULLUP
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PG1 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
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# Control of Spektrum power pin
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PB2 SPEKTRUM_PWR_EN OUTPUT HIGH GPIO(73)
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define HAL_GPIO_SPEKTRUM_PWR 73
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# Spektrum Power is Active High
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define HAL_SPEKTRUM_PWR_ENABLED 1
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# Timer
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PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)
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PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51)
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PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52)
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PA11 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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PA5 TIM2_CH1 TIM2 PWM(5) GPIO(54)
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PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55)
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PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56)
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PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
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# Correctly set Direction of PWMs
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# if UNIDIR is set then BIDIR must be reset
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PA7 HP_UNIDIR_ENABLED OUTPUT HIGH GPIO(5)
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# UART connected to FMU, uses DMA
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PE7 UART7_RX UART7 SPEED_VERYLOW
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PE8 UART7_TX UART7 SPEED_VERYLOW
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# UART for SBUS out
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PC7 USART6_RX USART6 SPEED_HIGH LOW
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PC6 USART6_TX USART6
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# UART for DSM input
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# TX side is for IO debug, and is unused
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PC10 USART3_TX USART3 SPEED_HIGH
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PC11 USART3_RX USART3 SPEED_HIGH
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# UART for debug
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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# UART for RCIN
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PD1 UART4_TX UART4
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# USART for future use
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PD5 USART2_TX USART2 SPEED_HIGH
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PD6 USART2_RX USART2 SPEED_HIGH
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PD4 USART2_RTS USART2 SPEED_HIGH
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PD3 USART2_CTS USART2 SPEED_HIGH
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# order of UARTs
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SERIAL_ORDER EMPTY EMPTY EMPTY EMPTY
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define HAL_USE_UART TRUE
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define STM32_UART_USE_UART7 TRUE
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define HAL_IO_FMU_COMMS UARTD7
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define HAL_IO_FMU_COMMS_TX_DMA_STREAM STM32_UART_UART7_TX_DMA_STREAM
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define HAL_IO_FMU_COMMS_TX_DMA_CHANNEL STM32_UART_UART7_TX_DMA_CHAN
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define HAL_IO_FMU_COMMS_TX_IRQ_PRIORITY STM32_UART_UART7_IRQ_PRIORITY
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define HAL_IO_FMU_COMMS_RX_DMA_STREAM STM32_UART_UART7_RX_DMA_STREAM
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define HAL_IO_FMU_COMMS_RX_DMA_CHANNEL STM32_UART_UART7_RX_DMA_CHAN
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define HAL_USE_SERIAL TRUE
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define STM32_SERIAL_USE_UART7 FALSE
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define STM32_SERIAL_USE_UART4 TRUE
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define STM32_SERIAL_USE_USART3 TRUE
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define STM32_SERIAL_USE_USART6 TRUE
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define HAL_IOMCU_RCIN_SERIAL_DRIVER SD4
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define HAL_IOMCU_DSM_SERIAL_DRIVER SD3
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define HAL_IOMCU_SBUS_OUT_SERIAL_DRIVER SD6
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define HAL_GPIO_PIN_SPEKTRUM_OUT PAL_LINE(GPIOC,11U)
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define HAL_DSHOT_ENABLED TRUE
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define HAL_IOMCU_SEPARATE_SBUS_OUT_RCIN 1
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PC4 SAFETY_INPUT INPUT PULLDOWN
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PE3 SAFETY_LED OUTPUT HIGH OPENDRAIN
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define HAL_IOMCU_APP_SIZE_MAX (0x200000 - 0x20000 - 0x40000)
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define HAL_IOMCU_APP_LOAD_ADDRESS 0x08020000
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define IOMCU_DEBUG SD8
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define STM32_SERIAL_USE_UART8 TRUE
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define HAL_BL_IOMCU_FW_DETECT 1
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define AP_HAL_UARTDRIVER_ENABLED 0
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define HAL_SERIAL_SBUS_SWAPPED 1
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