mirror of https://github.com/ArduPilot/ardupilot
187 lines
4.0 KiB
Plaintext
187 lines
4.0 KiB
Plaintext
|
|
# hw definition file for processing by chibios_hwdef.py
|
|
# for IFLIGHT_BLITZ_H7_PRO hardware.
|
|
# thanks to betaflight for pin information
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID AP_HW_BlitzH7Pro
|
|
|
|
# crystal frequency, setup to use external oscillator
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
MCU_CLOCKRATE_MHZ 480
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
FLASH_RESERVE_START_KB 384
|
|
|
|
define HAL_STORAGE_SIZE 16384
|
|
define STORAGE_FLASH_PAGE 1
|
|
|
|
# ChibiOS system timer
|
|
STM32_ST_USE_TIMER 12
|
|
define CH_CFG_ST_RESOLUTION 16
|
|
|
|
# SPI devices
|
|
|
|
# SPI1
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PD7 SPI1_MOSI SPI1
|
|
|
|
# SPI2
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
# Chip select pins
|
|
PB12 OSD1_CS CS
|
|
PC15 GYRO1_CS CS
|
|
PE11 GYRO2_CS CS
|
|
|
|
# Beeper
|
|
PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
|
|
|
|
# SERIAL ports
|
|
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8 OTG2
|
|
# PA10 IO-debug-console
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
# USART1 - VTX
|
|
PA10 USART1_RX USART1
|
|
PA9 USART1_TX USART1
|
|
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort
|
|
|
|
# USART2 - RX
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
|
|
|
|
# USART3
|
|
PD8 USART3_TX USART3
|
|
PD9 USART3_RX USART3
|
|
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
|
|
|
|
# UART4 - GPS
|
|
PB8 UART4_RX UART4
|
|
PB9 UART4_TX UART4
|
|
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
|
|
|
|
# USART6
|
|
PC6 USART6_TX USART6 NODMA
|
|
PC7 USART6_RX USART6 NODMA
|
|
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
|
|
|
|
# UART7
|
|
PE7 UART7_RX UART7 NODMA
|
|
PE8 UART7_TX UART7 NODMA
|
|
# Not pinned out
|
|
PE9 UART7_RTS UART7
|
|
PE10 UART7_CTS UART7
|
|
|
|
# UART8
|
|
PE0 UART8_RX UART8 NODMA
|
|
PE1 UART8_TX UART8 NODMA
|
|
|
|
# I2C ports
|
|
I2C_ORDER I2C1 I2C2
|
|
# I2C1
|
|
PB6 I2C1_SCL I2C1
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
# I2C2
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# microSD support
|
|
PC8 SDMMC1_D0 SDMMC1
|
|
PC9 SDMMC1_D1 SDMMC1
|
|
PC10 SDMMC1_D2 SDMMC1
|
|
PC11 SDMMC1_D3 SDMMC1
|
|
PC12 SDMMC1_CK SDMMC1
|
|
PD2 SDMMC1_CMD SDMMC1
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
# CAN
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
|
|
|
# VTX power
|
|
PD10 VTX_PWR OUTPUT GPIO(81) HIGH
|
|
define RELAY2_PIN_DEFAULT 81
|
|
|
|
# ADC ports
|
|
|
|
# ADC1
|
|
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
define HAL_BATT_VOLT_PIN 10
|
|
define HAL_BATT_VOLT_SCALE 11.0
|
|
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
define HAL_BATT_CURR_PIN 11
|
|
define HAL_BATT_CURR_SCALE 50.0
|
|
PC5 RSSI_ADC ADC1
|
|
define BOARD_RSSI_ANA_PIN 8
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
PC4 PRESSURE_SENS ADC1 SCALE(2)
|
|
define HAL_DEFAULT_AIRSPEED_PIN 4
|
|
|
|
# MOTORS
|
|
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # M1
|
|
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2
|
|
PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) BIDIR # M3
|
|
PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53) # M4
|
|
PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR # M5
|
|
PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6
|
|
PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR # M7
|
|
PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) # M8
|
|
# Motor outputs on daughterboard
|
|
PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9
|
|
PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # M10
|
|
PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA # M11
|
|
PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA # M12
|
|
|
|
# LEDs
|
|
PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # M9
|
|
|
|
define AP_NOTIFY_GPIO_LED_2_ENABLED 1
|
|
|
|
PE3 LED0 OUTPUT LOW GPIO(90)
|
|
define HAL_GPIO_A_LED_PIN 90
|
|
|
|
PE4 LED1 OUTPUT LOW GPIO(91)
|
|
define HAL_GPIO_B_LED_PIN 91
|
|
|
|
# OSD setup
|
|
SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
define OSD_ENABLED 1
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
# Barometer setup
|
|
BARO DPS310 I2C:1:0x76
|
|
|
|
# IMU setup
|
|
SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ
|
|
|
|
IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180
|
|
|
|
DMA_NOSHARE TIM3_UP TIM5_UP TIM4_UP SPI1*
|
|
DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1*
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
# external compass types
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
|
# Motor order implies Betaflight/X for standard ESCs
|
|
define HAL_FRAME_TYPE_DEFAULT 12
|