mirror of https://github.com/ArduPilot/ardupilot
117 lines
2.6 KiB
Plaintext
117 lines
2.6 KiB
Plaintext
include common.inc
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env OPTIMIZE -Os
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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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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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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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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# SPI1 for IMU1 (ICM42688)
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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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PC4 IMU1_CS CS
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# SPI2 for flash (W25Q64JVZPIQ (64Mbit))
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PA9 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PE11 FLASH_CS CS
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# two I2C buses
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I2C_ORDER I2C2 I2C1
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# I2C1
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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# I2C2
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PB10 I2C2_SCL I2C2 PULLUP
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PB11 I2C2_SDA I2C2 PULLUP
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# ADC
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PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA0 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4 # Analog voltage and current
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define HAL_BATT_VOLT_PIN 18 # ADC channel
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define HAL_BATT_CURR_PIN 16
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define HAL_BATT_VOLT_SCALE 11.44 # Nominally a 11x divider. 11.44 is based on experimenting.
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define HAL_BATT_CURR_SCALE 40.0 # This depends on the ESC's V/mA output ratio.
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# LED
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PC13 LED0 OUTPUT LOW GPIO(90) # Amber; System status.
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PC0 LED1 OUTPUT LOW GPIO(91) # Not connected; GPS Status. (Required, or the system status LED won't work.)
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_B_LED_PIN 91
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# order of UARTs (and USB) OTG2 may be required for SLCAN.
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7 UART8 #OTG2
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# USART1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# USART2 (MSP Displayport OSD)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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# USART3
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# UART4
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PC10 UART4_TX UART4
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PC11 UART4_RX UART4
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# UART7 (ELRS receiver)
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PB4 UART7_TX UART7
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PB3 UART7_RX UART7
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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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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# Motors
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PC6 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR
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PC7 TIM3_CH2 TIM3 PWM(2) GPIO(51)
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PC8 TIM3_CH3 TIM3 PWM(3) GPIO(52) BIDIR
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PC9 TIM3_CH4 TIM3 PWM(4) GPIO(53)
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PE5 TIM15_CH1 TIM15 PWM(5) GPIO(54) BIDIR
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PE6 TIM15_CH2 TIM15 PWM(6) GPIO(55)
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PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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# Beeper
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PE9 TIM1_CH1 TIM1 GPIO(58) ALARM
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DMA_PRIORITY S*
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DMA_NOSHARE SPI1* TIM3* TIM15* TIM1*
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# SPI devices
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SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 16*MHZ
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SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ
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# IMU
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
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BARO DPS310 I2C:0:0x77
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport
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