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https://github.com/ArduPilot/ardupilot
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Update README.md: uses internal esc Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: introduction about RC input Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: introduction about PWM groups Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> remove defaults.parm and defined default params in hwdef file
160 lines
3.6 KiB
Plaintext
160 lines
3.6 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for the MicoAir743-AIO hardware
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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 AP_HW_MicoAir743-AIO
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# crystal frequency
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OSCILLATOR_HZ 8000000
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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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# flash size
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8
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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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# UARTs
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PE8 UART7_TX UART7
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PE7 UART7_RX UART7
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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# SWD
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# two I2C bus
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I2C_ORDER I2C2 I2C1
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# I2C1 - CONNECTOR
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2 - BARO
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# PWM output pins
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) BIDIR
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PB1 TIM3_CH4 TIM3 PWM(5) GPIO(54) BIDIR
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PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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# LED-pad
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9
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# Beeper
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PD15 BUZZER OUTPUT GPIO(59) LOW
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define HAL_BUZZER_PIN 59
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# 9 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 9
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# LEDs
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PE5 LED_RED OUTPUT LOW GPIO(0)
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PE6 LED_GREEN OUTPUT LOW GPIO(1)
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PE4 LED_BLUE OUTPUT LOW GPIO(2)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# ADC for Power
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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# setup for battery
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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 11
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define HAL_BATT_VOLT_SCALE 21.12
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define HAL_BATT_CURR_SCALE 14.14
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# barometers
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BARO DPS310 I2C:0:0x76
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# microSD support
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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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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define FATFS_HAL_DEVICE SDCD1
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# SPI2 - IMUs
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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PD5 GYRO_CS CS
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PD4 ACCEL_CS CS
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PA15 BMI270_CS CS
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# SPI devices
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SPIDEV bmi088_a SPI2 DEVID1 ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI2 DEVID2 GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi270 SPI2 DEVID3 BMI270_CS MODE3 1*MHZ 10*MHZ
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# 2 IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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# setup for serial ports
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2
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define DEFAULT_SERIAL4_OPTIONS 1024
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define DEFAULT_SERIAL4_BAUD 115
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
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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
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# setup for BF migration
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define HAL_FRAME_TYPE_DEFAULT 12 |