mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
229 lines
5.0 KiB
Plaintext
229 lines
5.0 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for SakuraH743
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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 2714
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# USB setup
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USB_STRING_MANUFACTURER "SkySakura"
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#debug on USART6 -- Uncomment if debugging
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#STDOUT_SERIAL SD6
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#STDOUT_BAUDRATE 115200
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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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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# DRDY pins
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PC4 DRDY_IIM42652_SPI1 INPUT
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PB2 DRDY_ICM42688_SPI4 INPUT
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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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# This is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN.
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PD4 VBUS INPUT OPENDRAIN
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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PD10 LED_SAFETY OUTPUT LOW
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PD11 SAFETY_IN INPUT PULLDOWN
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#disable safety button by default
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define BOARD_SAFETY_ENABLE_DEFAULT 0
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# SPI1 for IMU1 (IIM42652)
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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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PA4 IMU1_CS CS
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# SPI2 - external (USER)
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PB12 EXT_CS CS
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#PB12 FLASH_CS CS
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# SPI1 for BARO2 (DPS310)
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PC5 BARO2_CS CS
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# SPI4 for IMU2 (ICM42688)
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PE11 IMU2_CS CS
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE14 SPI4_MOSI SPI4
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# two I2C bus
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I2C_ORDER I2C1 I2C2
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# I2C1
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PB6 I2C1_SCL I2C1 PULLUP
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PB7 I2C1_SDA I2C1 PULLUP
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# I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# ADC
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC0 BATT2_VOLTAGE_SENS ADC2 SCALE(1)
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PC1 BATT2_CURRENT_SENS ADC2 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT2_VOLT_PIN 10
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define HAL_BATT2_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 34.0
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define HAL_BATT_CURR_SCALE 40.0
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define HAL_BATT2_VOLT_SCALE 10
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# LED setup
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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PB5 LED_RED OUTPUT GPIO(83)
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PB4 LED_GREEN OUTPUT GPIO(82)
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PB3 LED_BLUE OUTPUT GPIO(81)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 83
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 82
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 81
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART4 USART6 UART8 OTG2
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# USART1 (TELEM2)
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 (USER)
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2 NODMA
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# USART3 (GPS1)
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART4 (RCIN)
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PB9 UART4_TX UART4
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PB8 UART4_RX UART4
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
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# USART6 (DisplayPort)
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort
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# UART7 (telem1)
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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PE10 UART7_CTS UART7
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PE9 UART7_RTS UART7
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# UART8 (ESC Telemetry)
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PE0 UART8_RX UART8 NODMA
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PE1 UART8_TX UART8 NODMA
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
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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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PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(90)
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# Motors
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PA2 TIM5_CH3 TIM5 PWM(1) GPIO(50) BIDIR
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PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51)
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PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53)
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PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54) BIDIR
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PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
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PE5 TIM15_CH1 TIM15 PWM(7) GPIO(56) BIDIR
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PE6 TIM15_CH2 TIM15 PWM(8) GPIO(57)
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) NODMA
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PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) NODMA
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PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) NODMA
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PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61) NODMA
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#LED
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PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
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# Beeper
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PD7 BUZZER OUTPUT GPIO(84) LOW
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define HAL_BUZZER_PIN 84
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# microSD support
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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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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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# GPIOs
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PE15 VTX_PWR OUTPUT LOW GPIO(85)
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define RELAY1_PIN_DEFAULT 85
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define HAL_STORAGE_SIZE 32768
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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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STORAGE_FLASH_PAGE 14
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# spi devices
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SPIDEV icm42688 SPI4 DEVID1 IMU2_CS MODE3 2*MHZ 16*MHZ
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SPIDEV iim42652 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV dps310 SPI1 DEVID2 BARO2_CS MODE3 5*MHZ 5*MHZ
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DMA_PRIORITY SPI1* SPI4*
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DMA_NOSHARE SPI1* SPI4* TIM5* TIM3* TIM2* TIM15*
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# has an integreted mag, but still probe the i2c bus for all possible
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# external compass types
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_90
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define ALLOW_ARM_NO_COMPASS
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# two IMUs
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# H743-V1, ICM42688, IIM42652
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
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IMU Invensensev3 SPI:iim42652 ROTATION_YAW_180
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# DPS310 integrated on SPI1 bus
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BARO ICP201XX I2C:0:0x63
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BARO DPS310 SPI:dps310
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define HAL_OS_FATFS_IO 1
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define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN
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define HAL_FRAME_TYPE_DEFAULT 12
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# enable DFU reboot for installing bootloader
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# note that if firmware is build with --secure-bl then DFU is
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# disabled
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ENABLE_DFU_BOOT 1 |