mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
f3f3056dba
add support for dshot beepcodes through tonealarm add support for dshot reversal and command queue add support for dshot commands to all channels correctly manage channel enablement in PWM groups Correctly send dshot commands when using bi-dir dshot allow reversible settings to be changed ChibiOS: allow more than one type of ESC for dshot commands Only execute reverse/reversible commands on BLHeli add support for checking active ESCS mark ESCs active when bdshot telemetry is returned allow dshot alarm to be disabled allow priroitized dshot commands
218 lines
4.7 KiB
Plaintext
218 lines
4.7 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Matek H743-WING
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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 1013
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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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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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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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# 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 IMU1 (MPU6000)
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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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PC15 IMU1_CS CS
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# SPI2 for MAX7456 OSD
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PB12 MAX7456_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 - external
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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# external CS pins
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PD4 EXT_CS1 CS
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PE2 EXT_CS2 CS
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# SPI4 for IMU2 (ICM20602)
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PE11 IMU2_CS 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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# two I2C bus
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I2C_ORDER I2C2 I2C1
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# I2C1
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# ADC
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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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PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
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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 18
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define HAL_BATT2_CURR_PIN 7
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define HAL_BATT_VOLT_SCALE 11.0
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define HAL_BATT_CURR_SCALE 40.0
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define HAL_BATT2_VOLT_SCALE 11.0
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PC4 PRESSURE_SENS ADC1 SCALE(2)
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define HAL_DEFAULT_AIRSPEED_PIN 4
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 8
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# LED
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# green LED1 marked as B/E
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# blue LED0 marked as ACT
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PE3 LED0 OUTPUT LOW GPIO(90) # blue
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PE4 LED1 OUTPUT LOW GPIO(91) # green
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define HAL_GPIO_A_LED_PIN 91
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define HAL_GPIO_B_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 OTG2
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# USART1 (telem2)
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 (GPS1)
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (GPS2)
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART4 (spare)
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PB9 UART4_TX UART4
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PB8 UART4_RX UART4
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# USART6 (RC input), SERIAL7
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PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
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PC6 USART6_TX USART6 NODMA
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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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PC7 USART6_RX USART6 NODMA ALT(1)
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# UART7 (telem1)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE10 UART7_CTS UART7
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PE9 UART7_RTS UART7
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# UART8 (spare)
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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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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PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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# Motors
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PB0 TIM8_CH2N TIM8 PWM(1) GPIO(50)
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PB1 TIM8_CH3N TIM8 PWM(2) GPIO(51)
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PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52)
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PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53)
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PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54)
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
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PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60)
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PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61)
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PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
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# Beeper
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PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
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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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# GPIOs
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PD10 PINIO1 OUTPUT GPIO(81) LOW
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PD11 PINIO2 OUTPUT GPIO(82) LOW
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DMA_PRIORITY S*
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define HAL_STORAGE_SIZE 16384
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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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define STORAGE_FLASH_PAGE 14
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# spi devices
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SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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DMA_NOSHARE SPI1* SPI4*
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# SPI3 external connections
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SPIDEV pixartflow SPI3 DEVID1 EXT_CS1 MODE3 2*MHZ 2*MHZ
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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_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# two IMUs. We put icm20602 first as we can sample accel at 4kHz
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IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
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IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# MS5611 integrated on I2C2 bus, multiple possible choices for external barometer
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BARO MS56XX I2C:0:0x77
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BARO DPS310 I2C:0:0x76
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BARO BMP280 I2C:0:0x76
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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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# 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 BOARD_PWM_COUNT_DEFAULT 13
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