mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.3 KiB
Plaintext
110 lines
2.3 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for the BotBloxSwitch hardware
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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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# MCU class and specific type
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MCU STM32H7xx STM32H723xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# setup build for a peripheral bootloader
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env AP_PERIPH 1
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_BotBloxSwitch
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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# use last 2 pages for flash storage
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# H723 has 8 pages of 128k each
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STORAGE_FLASH_PAGE 6
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# flash size
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FLASH_SIZE_KB 1024
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env OPTIMIZE -Os
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# USB
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PA11 OTG_HS_DM OTG1
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PA12 OTG_HS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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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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#PD4 USART2_DE USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD12 USART3_RTS USART3
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PD11 USART3_CTS USART3
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# LEDs
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PC0 LED_STT1 OUTPUT OPENDRAIN HIGH
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PA4 LED_STT2 OUTPUT OPENDRAIN HIGH
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define HAL_LED_ON 0
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# use first LED
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define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED_STT1
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# Ethernet switch chip reset pin
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PD13 GPIO_ETH_RST OUTPUT HIGH PULLUP
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# CAN1 standby GPIO
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PA0 GPIO_CAN_S OUTPUT LOW PULLUP
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# GPIO/PWMs
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#PC6 TIM3_CH1 TIM3 PWM(1) GPIO(100)
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#PB14 TIM12_CH1 TIM12 PWM(2) GPIO(101)
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#PB15 TIM12_CH2 TIM12 PWM(3) GPIO(102)
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PB12 ETH_RMII_TXD0 ETH1
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PB13 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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define BOARD_PHY_ADDRESS 5
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define BOARD_PHY_RMII
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# auto-negotiation doesn't work, force 100MBit full duplex
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define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX
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define HAL_PERIPH_ENABLE_NETWORKING
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define AP_NETWORKING_MAX_INSTANCES 4
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# allow load from USB
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SERIAL_ORDER OTG1 USART3
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define HAL_RCIN_THREAD_ENABLED 1
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define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
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define HAL_USE_ADC FALSE
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define AP_SERIALMANAGER_REGISTER_ENABLED 1
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define AP_SCRIPTING_ENABLED 1
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define AP_FILESYSTEM_ROMFS_ENABLED 1
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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the network enabled bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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include ../include/network_PPPGW.inc
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define HAL_MONITOR_THREAD_ENABLED 1
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