mirror of https://github.com/ArduPilot/ardupilot
181 lines
3.9 KiB
Plaintext
181 lines
3.9 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# for SP/Racing Extreme H7 hardware.
|
|
# thanks to betaflight for pin information
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H730xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1108
|
|
|
|
# crystal frequency, setup to use external oscillator
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
MCU_CLOCKRATE_MHZ 520
|
|
|
|
env OPTIMIZE -O2
|
|
|
|
define HAL_WITH_EKF_DOUBLE 0
|
|
|
|
STM32_ST_USE_TIMER 2
|
|
|
|
# internal flash is off limits
|
|
FLASH_SIZE_KB 128
|
|
FLASH_RESERVE_START_KB 0
|
|
define HAL_FLASH_PROTECTION 1
|
|
|
|
EXT_FLASH_SIZE_MB 2
|
|
|
|
I2C_ORDER I2C1 I2C2
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 EMPTY USART2 USART3 UART4 UART5 EMPTY EMPTY UART8
|
|
|
|
# Buzzer - DMA timer channel use by LEDs
|
|
PD7 BUZZER OUTPUT GPIO(80) LOW
|
|
define HAL_BUZZER_PIN 80
|
|
define HAL_BUZZER_ON 1
|
|
define HAL_BUZZER_OFF 0
|
|
|
|
# USB
|
|
PA11 OTG_HS_DM OTG1
|
|
PA12 OTG_HS_DP OTG1
|
|
|
|
# Debug
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# SPI2 SX1280
|
|
# Requires a driver!
|
|
PB12 SX1280_CS CS
|
|
PD3 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
# SPI6 ICM42688
|
|
PA15 ICM42688_CS CS
|
|
PB3 SPI6_SCK SPI6
|
|
PB4 SPI6_MISO SPI6
|
|
PB5 SPI6_MOSI SPI6
|
|
|
|
# SPI4 for OSD
|
|
PE11 PIXELOSD_CS CS
|
|
PE12 SPI4_SCK SPI4
|
|
PE13 SPI4_MISO SPI4
|
|
PE14 SPI4_MOSI SPI4
|
|
|
|
# I2C1 for external MAG connection on J8, no pull-ups, external pull-ups REQUIRED
|
|
PB8 I2C1_SCL I2C1 PULLUP
|
|
PB9 I2C1_SDA I2C1 PULLUP
|
|
|
|
# I2C2 has BMP388 internally connected, 10k pull-ups
|
|
PB10 I2C2_SCL I2C2 PULLUP
|
|
PB11 I2C2_SDA I2C2 PULLUP
|
|
|
|
# ESC1 connector BATT/CURRENT
|
|
PC3 BATT_VOLTAGE_SENS ADC2 SCALE(1)
|
|
PC1 BATT_CURRENT_SENS ADC2 SCALE(1)
|
|
# ESC2 connector CURRENT
|
|
PC0 BATT_CURRENT_SENS2 ADC2 SCALE(1) # analog pin 10
|
|
|
|
# VTX Power control - should be high at startup to ensure power
|
|
PC15 VTX_PWR OUTPUT HIGH GPIO(81)
|
|
define RELAY2_PIN_DEFAULT 81
|
|
|
|
# define default battery setup
|
|
define HAL_BATT_VOLT_PIN 13
|
|
define HAL_BATT_CURR_PIN 11
|
|
define HAL_BATT_VOLT_SCALE 10.9
|
|
define HAL_BATT_CURR_SCALE 28.5
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
|
|
# USART2
|
|
PD6 USART2_RX USART2
|
|
PD5 USART2_TX USART2
|
|
|
|
# USART3
|
|
PD9 USART3_RX USART3
|
|
PD8 USART3_TX USART3
|
|
|
|
# UART4
|
|
PD0 UART4_RX UART4
|
|
PD1 UART4_TX UART4
|
|
|
|
# UART5 (ESC Telem)
|
|
PB13 UART5_TX UART5
|
|
|
|
# UART8
|
|
PE0 UART8_RX UART8
|
|
PE1 UART8_TX UART8
|
|
|
|
# SD card
|
|
PC8 SDMMC1_D0 SDMMC1
|
|
PC9 SDMMC1_D1 SDMMC1
|
|
PC10 SDMMC1_D2 SDMMC1
|
|
PC11 SDMMC1_D3 SDMMC1
|
|
PC12 SDMMC1_CK SDMMC1
|
|
PD2 SDMMC1_CMD SDMMC1
|
|
|
|
# OctoSPI Flash
|
|
PD11 OCTOSPIM_P1_IO0 OCTOSPI1
|
|
PD12 OCTOSPIM_P1_IO1 OCTOSPI1
|
|
PE2 OCTOSPIM_P1_IO2 OCTOSPI1
|
|
PD13 OCTOSPIM_P1_IO3 OCTOSPI1
|
|
PE7 OCTOSPIM_P1_IO4 OCTOSPI1
|
|
PE8 OCTOSPIM_P1_IO5 OCTOSPI1
|
|
PE9 OCTOSPIM_P1_IO6 OCTOSPI1
|
|
PE10 OCTOSPIM_P1_IO7 OCTOSPI1
|
|
PB6 OCTOSPIM_P1_NCS OCTOSPI1
|
|
PB2 OCTOSPIM_P1_CLK OCTOSPI1
|
|
|
|
# Motors
|
|
// On 4in1ESC_1 (Top)
|
|
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # M1
|
|
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M1
|
|
PA6 TIM3_CH1 TIM3 PWM(3) GPIO(52) BIDIR # M3
|
|
PA7 TIM3_CH2 TIM3 PWM(4) GPIO(53) # M4
|
|
|
|
// On 4in1ESC_2 (Bottom)
|
|
PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) BIDIR # M5
|
|
PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55) # M6
|
|
PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56) BIDIR # M7
|
|
PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57) # M8
|
|
|
|
// On
|
|
PB7 TIM17_CH1N TIM17 PWM(9) GPIO(58) # LED
|
|
|
|
# Red LED
|
|
PE5 LED0 OUTPUT LOW GPIO(90)
|
|
PE6 LED1 OUTPUT LOW GPIO(91)
|
|
|
|
# spi devices
|
|
SPIDEV icm42688 SPI6 DEVID1 ICM42688_CS MODE3 2*MHZ 16*MHZ
|
|
#SPIDEV osd SPI4 DEVID4 PIXELOSD_CS MODE0 10*MHZ 10*MHZ
|
|
#SPIDEV radio SPI2 DEVID1 SX1280_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
DMA_PRIORITY SPI6* SPI2* TIM3*
|
|
|
|
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 2
|
|
|
|
IMU Invensense SPI:icm42688 ROTATION_YAW_90
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
|
|
|
# one BARO
|
|
BARO BMP388 I2C:1:0x76
|
|
|
|
# setup for OSD
|
|
#define OSD_ENABLED 1
|
|
#define HAL_OSD_TYPE_DEFAULT 1
|
|
#ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
|
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
|
|
|
define BOARD_PWM_COUNT_DEFAULT 9
|
|
|
|
define HAL_STORAGE_SIZE 16384
|