mirror of https://github.com/ArduPilot/ardupilot
219 lines
4.3 KiB
Plaintext
219 lines
4.3 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for H743 bootloader
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# USB setup
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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USB_PRODUCT 0x5001
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USB_STRING_MANUFACTURER "CubePilot"
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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env AP_PERIPH_HEAVY 1
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1037
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FLASH_SIZE_KB 2048
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors, we leave 2 sectors for BL
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FLASH_BOOTLOADER_LOAD_KB 256
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PB15 LED_SWITCH_2 OUTPUT HIGH
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PB14 LED_SWITCH_1 OUTPUT HIGH
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# board voltage
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STM32_VDD 330U
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7
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define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_None
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# USART3 F9
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART7 F9
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7 NODMA
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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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###########################
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define AP_NOTIFY_PROFILED_SPI_ENABLED 1
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define DEFAULT_NTF_LED_TYPES Notify_LED_ProfiLED_SPI
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define NOTIFY_LED_LEN_DEFAULT 16
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define CONFIGURE_PPS_PIN TRUE
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define HAL_PERIPH_ENABLE_NOTIFY
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define HAL_PERIPH_NOTIFY_WITHOUT_RCOUT
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FLASH_RESERVE_START_KB 256
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define GPS_UBLOX_MOVING_BASELINE TRUE
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define HAL_GCS_ENABLED 1
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define HAL_LOGGING_ENABLED TRUE
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define HAL_NO_MONITOR_THREAD
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define HAL_DISABLE_LOOP_DELAY
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define USB_USE_WAIT TRUE
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define HAL_USE_USB_MSD 1
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define HAL_DEVICE_THREAD_STACK 2048
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#define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_STORAGE_SIZE 16384
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define AP_INERTIALSENSOR_ENABLED 1
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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PA4 MPU_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
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PF8 blank CS
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SPIDEV profiled SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 5
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# compass as part of ICM20948 on newer cubes
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
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# one baro
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#BARO MS56XX I2C:0:0x77
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PE4 CSPI4_CS CS
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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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PG15 CSPI6_CS CS
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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PF7 SPI5_SCK SPI5
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PF9 SPI5_MOSI SPI5
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# Now setup the pins for the microSD card, if available.
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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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define BOARD_SER1_RTSCTS_DEFAULT 0
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define HAL_OS_FATFS_IO 1
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define HAL_WITH_DRONECAN 1
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env HAL_WITH_DRONECAN 1
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define HAL_PICCOLO_CAN_ENABLE 0
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define AP_CAN_SLCAN_ENABLED 1
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PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
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PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
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#gps f9
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PD10 F91TXR INPUT
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PD11 F92RST INPUT
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PD13 F93SB INPUT
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PD14 F94EXTINT INPUT
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PD15 F95RSV1 INPUT
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PG2 F97 INPUT GPIO(100)
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PG3 F96RSV2 INPUT
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PD4 RTKSTAT INPUT
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PD5 GEOFENCESTAT INPUT
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#others
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PG10 can2int INPUT
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PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW
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PF1 GNDDET2 INPUT
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PF2 GNDDET1 INPUT
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PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
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PD6 TERMCAN1 OUTPUT LOW GPIO(3)
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PB3 TERMCAN2 OUTPUT LOW GPIO(4)
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#sensor enable
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PC0 SENSEN OUTPUT HIGH
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PB1 IMUINT INPUT
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PB4 QCAN2INT0 INPUT
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PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW
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PE0 QCAN1INT INPUT
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PE1 QCAN1INT0 INPUT
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PE3 QCAN1INT1 INPUT
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PD7 QCAN2INT1 INPUT
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PA8 QCAN12OSC1 INPUT
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# This defines more ADC inputs.
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PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
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PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)
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# This input pin is used to detect that power is valid on USB.
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PA9 VBUS INPUT
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PH13 VDD_33V_SENS INPUT
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# This defines some input pins, currently unused.
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PB2 BOOT1 INPUT
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define CAN_APP_NODE_NAME "com.cubepilot.herepro"
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# disabled compass cal as it doesn't work for now
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# define COMPASS_CAL_ENABLED 1
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define HAL_ENABLE_SLCAN 1
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# passthrough CAN1
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define HAL_DEFAULT_CPORT 1
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define CONFIGURE_PPS_PIN TRUE
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define AP_PERIPH_HAVE_LED TRUE
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define AP_SCRIPTING_ENABLED 1
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define SCRIPTING_HEAP_SIZE (64*1024)
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define GPS_MOVING_BASELINE 1
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define AP_RC_CHANNEL_ENABLED 1
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define AP_RELAY_ENABLED 1
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define AP_SERVORELAYEVENTS_ENABLED 1
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