mirror of https://github.com/ArduPilot/ardupilot
179 lines
3.8 KiB
Plaintext
179 lines
3.8 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for BrainFPV RADIX 2 HD
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# MCU class and specific type
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MCU STM32H7xx STM32H750xx
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# board ID for firmware load
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APJ_BOARD_ID 1118
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 16000000
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MCU_CLOCKRATE_MHZ 480
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env OPTIMIZE -O2
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define HAL_WITH_EKF_DOUBLE 0
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STM32_ST_USE_TIMER 13
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define CH_CFG_ST_RESOLUTION 16
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# internal flash is off limits
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FLASH_SIZE_KB 128
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FLASH_RESERVE_START_KB 0
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define HAL_FLASH_PROTECTION 1
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EXT_FLASH_SIZE_MB 16
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EXT_FLASH_RESERVE_START_KB 4096
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EXT_FLASH_RESERVE_END_KB 0
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# Supports upto 2 MBits/s
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CANFD_SUPPORTED 2
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
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# I2C1 for baro
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PB6 I2C1_SCL I2C1 PULLUP
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PB7 I2C1_SDA I2C1 PULLUP
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# Analog inputs
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA6 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC1 RSSI_ADC ADC1
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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 3
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define HAL_BATT_VOLT_SCALE 17.6
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define HAL_BATT_CURR_SCALE 28.5
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define BOARD_RSSI_ANA_PIN 11
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# Debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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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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# USART1 (HD OSD)
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PB15 USART1_RX USART1
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PB14 USART1_TX USART1
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# USART2 (GPS)
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# USART3 (RC input)
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PB11 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART4 (ESC telemetry)
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PB8 UART4_RX UART4 NODMA
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PA0 UART4_TX UART4 NODMA
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# UART5 (spare)
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PB12 UART5_RX UART5 NODMA
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PB13 UART5_TX UART5 NODMA
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# USART6 (spare)
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PC7 USART6_RX USART6 NODMA ALT(1)
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PC6 USART6_TX USART6 NODMA ALT(1)
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# TODO: USART7 (RX only)
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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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# SP1 for BMI270
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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PD3 BMI270_CS CS
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# SD card
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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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# QuadSPI Flash running at 120 MHz from HCLK
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define HAL_FORCE_CLOCK_INIT
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define STM32_QSPISEL STM32_QSPISEL_HCLK
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PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
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PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
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PE2 QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
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PA1 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
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PB10 QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
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PB2 QUADSPI_CLK QUADSPI1 SPEED_HIGH
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# Motors
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PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR # M1
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR # M2
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PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR # M3
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PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR # M4
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PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54) BIDIR # M5
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PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR # M6
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PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56) BIDIR # M7
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PD14 TIM4_CH3 TIM4 PWM(8) GPIO(57) BIDIR # M8
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# PWM output on UART6 TX and RX pins
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PC6 TIM8_CH1 TIM8 PWM(9) GPIO(58) NODMA # TX6
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PC7 TIM8_CH2 TIM8 PWM(10) GPIO(59) NODMA # RX6
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# RGB LED output: Currently not working: Needs to be inverted due to level shifter
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PA3 TIM5_CH4 TIM5 PWM(11) GPIO(60)
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# Buzzer pin
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PE4 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
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define HAL_BUZZER_PIN 80
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define AP_NOTIFY_TONEALARM_ENABLED 1
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# LEDs
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PE5 LED_RED OUTPUT HIGH OPENDRAIN GPIO(10)
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PE6 LED_GREEN OUTPUT HIGH OPENDRAIN GPIO(11)
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PA7 LED_BLUE OUTPUT HIGH OPENDRAIN GPIO(12)
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define HAL_GPIO_A_LED_PIN 10
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define HAL_GPIO_B_LED_PIN 11
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define HAL_GPIO_C_LED_PIN 12
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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define HAL_HAVE_PIXRACER_LED
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# 9V regulator switch
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PC14 VTX_PWR OUTPUT HIGH GPIO(81)
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define RELAY2_PIN_DEFAULT 81
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SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 2*MHZ 10*MHZ
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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BARO DPS310 I2C:0:0x76
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# filesystem setup on sdcard
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define HAL_OS_FATFS_IO 1
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define STM32_PWM_USE_ADVANCED TRUE
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define HAL_STORAGE_SIZE 16384
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# DMA
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DMA_PRIORITY SPI1*
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DMA_NOSHARE SPI1* TIM1* TIM2* TIM3* TIM4*
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NODMA I2C*
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define STM32_I2C_USE_DMA FALSE
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# bootloader embedding / bootloader flashing not available
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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