mirror of https://github.com/ArduPilot/ardupilot
224 lines
5.0 KiB
Plaintext
224 lines
5.0 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py for A6_YJUAV
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID 1113
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART5 UART8 UART7 OTG2
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# now we define the pins that USB is connected on
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1 TELEM1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 TELEM2
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# USART3 GPS
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PD9 USART3_RX USART3 NODMA
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PD8 USART3_TX USART3 NODMA
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# UART5 GPS2
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PB5 UART5_RX UART5 NODMA
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PB13 UART5_TX UART5 NODMA
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# SBUS, DSM port
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# UART7 DEBUG
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 -IMU1 -COMPASS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2 -IMU2 -IMU3
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI4 -FRAM -BAROMETER
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# SPI3 -Extra SPI
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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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# sensors cs
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PA8 IMU1_CS CS
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PD4 IMU2_CS CS
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PD11 IMU3_CS CS
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PE4 FRAM_CS CS
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PE3 BAROMETER_CS CS
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PD10 COMPASS_CS CS
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PC15 RESERVE_CS CS
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# Extra SPI CS
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PE10 EXT_CS CS
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# I2C buses
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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PD12 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C2 I2C4
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NODMA I2C*
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define STM32_I2C_USE_DMA FALSE
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define HAL_I2C_INTERNAL_MASK 0
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# PWM channels
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PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
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PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) BIDIR
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PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55)
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PA2 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR
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PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57)
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PC6 TIM3_CH1 TIM3 PWM(9) GPIO(58)
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PA7 TIM3_CH2 TIM3 PWM(10) GPIO(59)
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PB0 TIM3_CH3 TIM3 PWM(11) GPIO(60)
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PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61)
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PD14 TIM4_CH3 TIM4 PWM(13) GPIO(62) NODMA
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PD15 TIM4_CH4 TIM4 PWM(14) GPIO(63) NODMA
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# PWM output for buzzer
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PB14 TIM12_CH1 TIM12 GPIO(77) ALARM
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# RC input
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PC7 TIM8_CH2 TIM8 RCININT PULLUP LOW
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# Analog in
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PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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# ADC3.3/ADC6.6
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PC4 SPARE1_ADC1 ADC1 SCALE(1)
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PC5 SPARE2_ADC1 ADC1 SCALE(2)
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PC3 VDD_5V_SENS ADC1 SCALE(2)
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PA4 RSSI_IN ADC1 SCALE(1)
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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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PB12 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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# GPIOs
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PC14 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HAVE_IMU_HEATER 1
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# enable pins
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PC13 VDD_3V3_SENSORS_EN OUTPUT LOW
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# red LED marked as B/E
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PE12 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
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PE15 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1)
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PB9 LED_B1 OUTPUT OPENDRAIN HIGH 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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# use pixracer style 3-LED indicators
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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PB8 LED_SAFETY OUTPUT
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PB7 SAFETY_IN INPUT PULLDOWN
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# SPI devices
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SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu2 SPI2 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu3 SPI2 DEVID2 IMU3_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ramtron SPI4 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV dps310 SPI4 DEVID2 BAROMETER_CS MODE3 5*MHZ 5*MHZ
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SPIDEV bmp388 SPI4 DEVID3 BAROMETER_CS MODE3 5*MHZ 5*MHZ
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SPIDEV rm3100 SPI1 DEVID2 COMPASS_CS MODE3 1*MHZ 1*MHZ
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# IMU1
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IMU Invensense SPI:imu1 ROTATION_PITCH_180_YAW_90
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IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
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# IMU2
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IMU Invensense SPI:imu2 ROTATION_PITCH_180_YAW_90
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IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_90
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# IMU3
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IMU Invensense SPI:imu3 ROTATION_YAW_90
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IMU Invensensev3 SPI:imu3 ROTATION_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 5
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# baro dps310 or bmp388
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BARO DPS310 SPI:dps310
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BARO BMP388 SPI:bmp388
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# compasses rm3100
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COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
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COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90
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# microSD support
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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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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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# enable RAMTROM parameter storage
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define HAL_STORAGE_SIZE 32768
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define HAL_WITH_RAMTRON 1
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DMA_PRIORITY SPI1* SPI2* TIM*UP*
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DMA_NOSHARE SPI1* SPI2* TIM*UP*
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# Enable Sagetech MXS ADSB transponder
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define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED
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