mirror of https://github.com/ArduPilot/ardupilot
257 lines
5.4 KiB
Plaintext
257 lines
5.4 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py for YJUAV_A6Ultra
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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 1144
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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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FLASH_SIZE_KB 2048
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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 USART2 USART6 USART3 USART1 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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# USART2 TELEM1
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# USART6 TELEM2
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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PG13 USART6_CTS USART6
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PG8 USART6_RTS USART6
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# USART3 GPS1
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# USART1 GPS2
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PB7 USART1_RX USART1
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PA9 USART1_TX USART1
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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
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PB3 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI6 -IMU2
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PA5 SPI6_SCK SPI6
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PA6 SPI6_MISO SPI6
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PA7 SPI6_MOSI SPI6
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# SPI5 -IMU3
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PF7 SPI5_SCK SPI5
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PF8 SPI5_MISO SPI5
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PF9 SPI5_MOSI SPI5
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# SPI4 -Extra SPI
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# sensors cs
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PE4 IMU1_CS CS
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PF3 IMU2_CS CS
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PF4 IMU3_CS CS
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PE10 FRAM_CS CS
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PE9 BAROMETER1_CS CS
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PE3 BAROMETER2_CS CS
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PC15 RESERVE_CS CS
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# Extra SPI CS
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PE5 EXT_CS CS
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# I2C buses
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C1 I2C2 I2C3 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 1
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# PWM channels
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PA15 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
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PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52) BIDIR
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PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
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PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
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PA10 TIM1_CH3 TIM1 PWM(7) GPIO(56) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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PB5 TIM3_CH2 TIM3 PWM(9) GPIO(58)
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PB0 TIM3_CH3 TIM3 PWM(10) GPIO(59)
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PB1 TIM3_CH4 TIM3 PWM(11) GPIO(60)
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PH6 TIM12_CH1 TIM12 PWM(12) GPIO(61) NODMA
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PH9 TIM12_CH2 TIM12 PWM(13) GPIO(62) NODMA
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# PWM output for buzzer
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PD14 TIM4_CH3 TIM4 GPIO(77) ALARM
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# RC input
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PI7 TIM8_CH3 TIM8 RCININT PULLUP LOW
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# Analog in
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PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
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PF11 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA0 BATT2_CURRENT_SENS ADC1 SCALE(1)
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PC2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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# Analog sys 5v
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PF12 VDD_5V_SENS ADC1 SCALE(2)
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# ADC3.3/ADC6.6
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PC5 SPARE1_ADC1 ADC1 SCALE(1)
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PC0 SPARE2_ADC1 ADC1 SCALE(2)
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PC1 RSSI_IN ADC1 SCALE(1)
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PC3 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
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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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PB13 CAN2_TX CAN2
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# GPIOs
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PC13 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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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 2
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define HAL_BATT_CURR_PIN 4
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define HAL_BATT_VOLT_SCALE 21
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define HAL_BATT_CURR_SCALE 34.6
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# batt2 default disable
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define HAL_BATT2_VOLT_PIN 12
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define HAL_BATT2_CURR_PIN 16
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define HAL_BATT2_VOLT_SCALE 21
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define HAL_BATT2_CURR_SCALE 34.6
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#analog rssi pin (also could be used as analog airspeed input)
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# PC1
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define BOARD_RSSI_ANA_PIN 11
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# enable pins
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PC14 VDD_3V3_SENSORS_EN OUTPUT LOW
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# red LED marked as B/E
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PE15 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
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PD10 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
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PG0 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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# use pixracer style 3-LED indicators
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define HAL_HAVE_PIXRACER_LED
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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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PB15 LED_SAFETY OUTPUT
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PA4 SAFETY_IN INPUT PULLDOWN
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# SPI devices
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SPIDEV imu1 SPI6 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu2 SPI6 DEVID2 IMU2_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu3 SPI1 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ
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SPIDEV dps310_1 SPI1 DEVID2 BAROMETER1_CS MODE3 5*MHZ 5*MHZ
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SPIDEV dps310_2 SPI5 DEVID1 BAROMETER2_CS MODE3 5*MHZ 5*MHZ
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SPIDEV ramtron SPI5 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
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# IMU1
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IMU Invensense SPI:imu1 ROTATION_NONE
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IMU Invensensev3 SPI:imu1 ROTATION_NONE
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# IMU2
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IMU Invensense SPI:imu2 ROTATION_NONE
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IMU Invensensev3 SPI:imu2 ROTATION_NONE
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# IMU3
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IMU Invensense SPI:imu3 ROTATION_NONE
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IMU Invensensev3 SPI:imu3 ROTATION_NONE
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# baro
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BARO DPS310 SPI:dps310_1
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BARO DPS310 SPI:dps310_2
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# compass
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define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
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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:0:0x0E false ROTATION_YAW_180
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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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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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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* SPI6* TIM*UP*
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DMA_NOSHARE SPI1* SPI6* TIM*UP*
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