mirror of https://github.com/ArduPilot/ardupilot
137 lines
2.7 KiB
Plaintext
137 lines
2.7 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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# setup build for a peripheral firmware
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env AP_PERIPH 1
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FLASH_SIZE_KB 2048
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APJ_BOARD_ID 1043
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# the location where the bootloader will put the firmware
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# the H757 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 256
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FLASH_RESERVE_START_KB 256
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# use last 2 pages for flash storage
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# H757 has 16 pages of 128k each
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STORAGE_FLASH_PAGE 14
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define HAL_STORAGE_SIZE 32768
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# reserve space for flash storage in last 2 sectors
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FLASH_RESERVE_END_KB 256
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# crystal frequency
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OSCILLATOR_HZ 24000000
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CANFD_SUPPORTED 8
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STDOUT_SERIAL SD6
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STDOUT_BAUDRATE 57600
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PC6 USART6_TX USART6
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PB6 USART1_TX USART1 GPIO(7)
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PB7 USART1_RX USART1 GPIO(8)
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# GPS
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PD5 USART2_TX USART2 GPIO(9)
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PD6 USART2_RX USART2 GPIO(10)
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PA11 UART4_RX UART4
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PA12 UART4_TX UART4
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define GPIO_USART1_TX 7
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define GPIO_USART1_RX 8
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define GPIO_USART2_TX 9
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define GPIO_USART2_RX 10
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# CubeID when present
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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SERIAL_ORDER USART1 UART4 UART8 USART2
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define DRONEID_MODULE_CHAN MAVLINK_COMM_2
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define HAL_LED_ON 0
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# enable CAN support
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PD2 SLEEPCAN1 OUTPUT PUSHPULL SPEED_LOW LOW
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PD3 TERMCAN1 OUTPUT HIGH GPIO(3)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# single CAN for now
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#PB12 CAN2_RX CAN2
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#PB13 CAN2_TX CAN2
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#PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW HIGH
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#PB11 TERMCAN2 OUTPUT HIGH GPIO(4)
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB2 SPI3_MOSI SPI3
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PB1 MAG_CS CS
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# analog input
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_PERIPH_ENABLE_BARO TRUE
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SPIDEV rm3100 SPI3 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
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define AP_RM3100_REVERSAL_MASK 4
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PA8 ICM_CS CS
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PA9 BARO_CS CS
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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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SPIDEV icm42688 SPI1 DEVID4 ICM_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
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BARO MS56XX SPI:ms5611
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define CAN_APP_NODE_NAME "com.cubepilot.Here4AP"
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# WS2812 LED
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PB8 TIM4_CH3 TIM4 PWM(1)
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PB9 TIM4_CH4 TIM4 PWM(2)
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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define HAL_PERIPH_ENABLE_GPS 1
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define HAL_PERIPH_ENABLE_MAG 1
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define GPS_MOVING_BASELINE 1
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define HAL_PERIPH_GPS_PORT_DEFAULT 3
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#PD11 GPS_TP1 OUTPUT HIGH GPIO(5)
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#PD7 GPS_PPS INPUT FLOATING GPIO(6)
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#define CONFIGURE_PPS_PIN TRUE
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#define HAL_GPIO_PPS 6
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# GPS enable pin
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# PD13 GPS_ENABLE OUTPUT HIGH GPIO(20)
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# for ProfiLed we need RC out and notify
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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