mirror of https://github.com/ArduPilot/ardupilot
199 lines
4.4 KiB
Plaintext
199 lines
4.4 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for SkystarsH7HD
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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 1075
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O2
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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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# leave 1 sectors free
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FLASH_RESERVE_START_KB 128
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# use last 2 pages for flash storage
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# H743 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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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
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# buzzer
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PB3 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
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define HAL_BUZZER_PIN 80
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define AP_NOTIFY_TONEALARM_ENABLED 1
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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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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for BMI270 (Gyro 1)
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PC15 BMI270_CS1 CS
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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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PB2 BMI270_INT1 INPUT
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# SPI2 for AT7456E OSD
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PB12 AT7456E_CS CS
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI3 for W25Q128 dataflash
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PA15 FLASH_CS CS
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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# SPI4 for BMI270 (Gyro 2)
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PE11 BMI270_CS2 CS
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE14 SPI4_MOSI SPI4
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PE15 BMI270_INT2 INPUT
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DMA_PRIORITY TIM1* TIM4* TIM3* TIM2* SPI1* SPI4*
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DMA_NOSHARE SPI1_RX SPI2_TX SPI4_RX USART6_RX
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# spi devices
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SPIDEV bmi270_1 SPI1 DEVID1 BMI270_CS1 MODE3 1*MHZ 10*MHZ
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SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
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SPIDEV dataflash SPI3 DEVID3 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV bmi270_2 SPI4 DEVID4 BMI270_CS2 MODE3 1*MHZ 10*MHZ
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# one I2C bus
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I2C_ORDER I2C2 I2C1
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# I2C1 - external
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# I2C2 - internal Baro
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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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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# VTX Power control - should be high at startup to ensure power
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PC5 VTX_PWR OUTPUT HIGH GPIO(81) # labelled as "Pit-1"
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# Camera selection - should be high so that Video 1 is selected by default
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PC2 VID_SELECT OUTPUT HIGH GPIO(82) # labelled as "PIN-EN"
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# OSD pad for TTL based OSD control, not supported by AP
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PD2 CAM_C OUTPUT LOW GPIO(83) # labelled as "CAM-C"
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# define default battery setup
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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_BATT2_VOLT_PIN 10
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define HAL_BATT2_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 11.1
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define HAL_BATT_CURR_SCALE 59.5
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define HAL_BATT2_VOLT_SCALE 11.1
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define HAL_BATT2_CURR_SCALE 59.5
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PC3 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 13
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define AP_NOTIFY_GPIO_LED_2_ENABLED 1
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PE3 LED0 OUTPUT LOW GPIO(90) # red, labelled as LED1
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PE4 LED1 OUTPUT LOW GPIO(91) # blue, labelled as LED2
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_B_LED_PIN 91
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# USART1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# UART4
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PD0 UART4_RX UART4
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PD1 UART4_TX UART4
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# UART5
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PB5 UART5_RX UART5
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PB6 UART5_TX UART5
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# USART6 (RX / SBUS)
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# as an alternative config setup the RX6 pin as a uart. This allows
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# for bi-directional UART based receiver protocols such as FPort
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# without any extra hardware
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA ALT(1)
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# UART7
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# UART8
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL6_BAUD 115
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# Motors
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PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
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PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
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PD12 TIM4_CH1 TIM4 PWM(3) GPIO(52)
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PD13 TIM4_CH2 TIM4 PWM(4) GPIO(53)
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PA0 TIM2_CH1 TIM2 PWM(5) GPIO(54)
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PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55)
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PA2 TIM2_CH3 TIM2 PWM(7) GPIO(56)
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PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57)
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# LED strip WS2812 / Neopixel
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58)
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# RC input defaults to timer capture
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
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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_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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# two IMU
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IMU BMI270 SPI:bmi270_1 ROTATION_ROLL_180_YAW_90
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IMU BMI270 SPI:bmi270_2 ROTATION_ROLL_180
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# one BARO
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BARO BMP280 I2C:0:0x76
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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define DEFAULT_NTF_LED_TYPES 257
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define AP_SCRIPTING_ENABLED 0
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