mirror of https://github.com/ArduPilot/ardupilot
217 lines
4.9 KiB
Plaintext
217 lines
4.9 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# for Holybro KakuteH7-WING
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1105
|
|
|
|
# crystal frequency, setup to use external oscillator (16Mhz)
|
|
OSCILLATOR_HZ 16000000
|
|
|
|
FLASH_SIZE_KB 2048
|
|
env OPTIMIZE -Os
|
|
|
|
# bootloader takes first sector
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# ChibiOS system timer
|
|
STM32_ST_USE_TIMER 12
|
|
define CH_CFG_ST_RESOLUTION 16
|
|
|
|
# USB
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# SPI1 for IMU1 (BMI088)
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
PC8 BMI088_A_CS CS
|
|
PC9 BMI088_G_CS CS
|
|
PD11 DRDY1_BMI088_ACC INPUT
|
|
PD10 DRDY2_BMI088_GYRO INPUT
|
|
|
|
# SPI2 for MAX7456 OSD
|
|
PB12 MAX7456_CS CS
|
|
PD3 SPI2_SCK SPI2
|
|
PC2 SPI2_MISO SPI2
|
|
PC3 SPI2_MOSI SPI2
|
|
|
|
#SPI3 for IMU1 (ICM42688)
|
|
PC10 SPI3_SCK SPI3
|
|
PC11 SPI3_MISO SPI3
|
|
PC12 SPI3_MOSI SPI3
|
|
PE12 ICM42688_CS CS
|
|
PE15 DRDY1_ICM42688 INPUT
|
|
|
|
# three I2C bus
|
|
I2C_ORDER I2C4 I2C1 I2C2
|
|
|
|
# I2C4 (BMP280 BARO)
|
|
PD12 I2C4_SCL I2C4
|
|
PD13 I2C4_SDA I2C4
|
|
|
|
# I2C1
|
|
PB8 I2C1_SCL I2C1
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
# I2C2
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# ADC
|
|
PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
PA3 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA2 BATT2_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
define HAL_BATT_VOLT_PIN 8
|
|
define HAL_BATT_CURR_PIN 4
|
|
define HAL_BATT2_VOLT_PIN 15
|
|
define HAL_BATT2_CURR_PIN 14
|
|
define HAL_BATT_VOLT_SCALE 18.18
|
|
define HAL_BATT_CURR_SCALE 36.6
|
|
define HAL_BATT2_VOLT_SCALE 11.0
|
|
|
|
PC0 RSSI_ADC ADC1
|
|
define BOARD_RSSI_ANA_PIN 10
|
|
|
|
# LED
|
|
# green LED1 marked as B/E
|
|
# blue LED0 marked as ACT
|
|
PC15 LED0 OUTPUT LOW GPIO(90) # blue
|
|
PC14 LED1 OUTPUT LOW GPIO(91) # red
|
|
define HAL_GPIO_A_LED_PIN 91
|
|
define HAL_GPIO_B_LED_PIN 90
|
|
define HAL_GPIO_LED_OFF 1
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 UART7 USART2 USART1 USART3 UART5 USART6 UART8 OTG2
|
|
|
|
# USART1 (GPS1, SERIAL3)
|
|
PA10 USART1_RX USART1
|
|
PB6 USART1_TX USART1
|
|
|
|
|
|
# USART2 (TELEM2, SERIAL2)
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
|
|
# USART3 (GPS2, SERIAL4)
|
|
PD9 USART3_RX USART3
|
|
PD8 USART3_TX USART3
|
|
|
|
# UART5 (USER, SERIAL5)
|
|
PB13 UART5_TX UART5
|
|
PD2 UART5_RX UART5
|
|
|
|
# USART6 (RC input), SERIAL6
|
|
PC7 TIM8_CH2 TIM8 RCININT PULLDOWN LOW
|
|
PC6 USART6_TX USART6 NODMA
|
|
|
|
# as an alternative config setup the RX6 pin as a uart. This allows
|
|
# for bi-directional UART based receiver protocols such as FPort
|
|
# without any extra hardware
|
|
PC7 USART6_RX USART6 NODMA ALT(1)
|
|
|
|
# UART7 (TELEM1, SERIAL1)
|
|
PE7 UART7_RX UART7
|
|
PE8 UART7_TX UART7
|
|
PE10 UART7_CTS UART7
|
|
PE9 UART7_RTS UART7
|
|
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2
|
|
|
|
# UART8 (USER, SERIAL7)
|
|
PE0 UART8_RX UART8
|
|
PE1 UART8_TX UART8
|
|
|
|
# CAN bus
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
|
|
# Motors
|
|
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)
|
|
PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
|
|
PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52)
|
|
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
|
|
PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54) BIDIR
|
|
PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55)
|
|
PA0 TIM5_CH1 TIM5 PWM(7) GPIO(56) BIDIR
|
|
PA1 TIM5_CH2 TIM5 PWM(8) GPIO(57)
|
|
PE5 TIM15_CH1 TIM15 PWM(9) GPIO(58)
|
|
PE6 TIM15_CH2 TIM15 PWM(10) GPIO(59)
|
|
PB5 TIM3_CH2 TIM3 PWM(11) GPIO(60) NODMA
|
|
PB0 TIM3_CH3 TIM3 PWM(12) GPIO(61) NODMA
|
|
PB1 TIM3_CH4 TIM3 PWM(13) GPIO(62) NODMA
|
|
PA15 TIM2_CH1 TIM2 PWM(14) GPIO(63) NODMA
|
|
|
|
# Beeper
|
|
#PB9 TIM17_CH1 TIM17 GPIO(77) ALARM
|
|
PB9 BUZZER OUTPUT GPIO(80) LOW
|
|
define HAL_BUZZER_PIN 80
|
|
|
|
# microSD support
|
|
PB14 SDMMC2_D0 SDMMC2
|
|
PB15 SDMMC2_D1 SDMMC2
|
|
PB3 SDMMC2_D2 SDMMC2
|
|
PB4 SDMMC2_D3 SDMMC2
|
|
PC1 SDMMC2_CK SDMMC2
|
|
PD7 SDMMC2_CMD SDMMC2
|
|
define FATFS_HAL_DEVICE SDCD2
|
|
|
|
# GPIOs 81:CAM SELECT,82:9V SWITCH,83: USER1,84:USER2
|
|
PC13 PINIO1 OUTPUT GPIO(81) LOW
|
|
PE3 PINIO2 OUTPUT GPIO(82) HIGH
|
|
PD4 PINIO3 OUTPUT GPIO(83) LOW
|
|
PE4 PINIO4 OUTPUT GPIO(84) LOW
|
|
|
|
#Power Control and Status
|
|
PA9 VBUS_VALID INPUT
|
|
PB2 VDD_3V3_SENSORS_EN OUTPUT HIGH
|
|
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
|
PE2 VDD_BRICK_nVALID INPUT FLOAT
|
|
|
|
define HAL_STORAGE_SIZE 32768
|
|
|
|
# use last 2 pages for flash storage
|
|
# H743 has 16 pages of 128k each
|
|
STORAGE_FLASH_PAGE 14
|
|
|
|
# spi devices
|
|
SPIDEV bmi088_a SPI1 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV bmi088_g SPI1 DEVID2 BMI088_G_CS MODE3 10*MHZ 10*MHZ
|
|
SPIDEV icm42688 SPI3 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV osd SPI2 DEVID3 MAX7456_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
DMA_NOSHARE SPI1* SPI3* TIM4* TIM5*
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
# external compass types
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
# One IMU (orientation needs to be determined)
|
|
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
|
|
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
|
|
|
|
# BMP280 integrated on I2C4 bus
|
|
BARO BMP280 I2C:0:0x76
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
# setup for OSD
|
|
define OSD_ENABLED 1
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
|
|
|
NODMA I2C*
|
|
define STM32_I2C_USE_DMA FALSE
|