mirror of https://github.com/ArduPilot/ardupilot
252 lines
5.9 KiB
Plaintext
252 lines
5.9 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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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 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1083
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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# order of I2C buses
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I2C_ORDER I2C3 I2C2 I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
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#DEFAULTGPIO OUTPUT LOW PULLDOWN
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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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PA9 VBUS INPUT OPENDRAIN
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PC0 VBUS_nVALID INPUT PULLUP
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# telem1
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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PD3 EXTERN_GPIO4 OUTPUT GPIO(4) ALT(1)
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PD4 EXTERN_GPIO5 OUTPUT GPIO(5) ALT(1)
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# telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4 NODMA
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# GPS2
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8 NODMA
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# UART7
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# UART for IOMCU
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IOMCU_UART USART6
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# Now the VDD sense pin. This is used to sense primary board voltage.
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# This defines an output pin which will default to output HIGH. It is
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# a pin that enables peripheral power on this board. It starts in the
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# off state, then is pulled low to enable peripherals in
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# peripheral_power_enable()
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#PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH
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PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
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# SWD debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM output for buzzer
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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# CAN1
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# CAN2
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PB6 CAN2_TX CAN2
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PB12 CAN2_RX CAN2
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# I2C1
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PB8 I2C1_SCL I2C1
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PB9 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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# I2C3 for onboard mag
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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# SPI1.
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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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# SPI4.
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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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# SPI2
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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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# This defines more ADC inputs.
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PC3 AUX_POWER ADC1 SCALE(1)
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PC4 AUX_ADC2 ADC1 SCALE(1)
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# And the analog input for airspeed (rarely used these days).
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PC5 PRESSURE_SENS ADC1 SCALE(2)
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# More CS pins for more sensors. The labels for all CS pins need to
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# match the SPI device table later in this file.
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PC2 42688_EXT_CS CS
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PD7 BARO_EXT_CS CS
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PC13 40605_EXT_CS CS
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PE4 42688_CS CS
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PC14 BARO_CS CS
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PD10 FRAM_CS CS
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PD2 SDCARD_CS CS
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PC1 42688_EXT_DRDY INPUT
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PC15 40605_EXT_DRDY INPUT
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PD15 42688_DRDY INPUT
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# Now we start defining some PWM pins. We also map these pins to GPIO
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# values, so users can set SERVOx_FUNCTION=-1 to determine which
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# PWM outputs on the primary MCU are set up as GPIOs.
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# To match HAL_PX4 we number the GPIOs for the PWM outputs
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# starting at 50.
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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PB4 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH
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PB3 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH
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PB5 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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define HAL_GPIO_A_LED_PIN 11
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define HAL_GPIO_B_LED_PIN 13
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define HAL_GPIO_C_LED_PIN 12
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define HAL_HAVE_PIXRACER_LED
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# Power flag pins: these tell the MCU the status of the various power
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# supplies that are available. The pin names need to exactly match the
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# names used in AnalogIn.cpp.
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PB2 VDD_BRICK_nVALID INPUT PULLUP
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PB7 VDD_BRICK2_nVALID INPUT PULLUP
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PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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SPIDEV ms5611 SPI1 DEVID5 BARO_CS MODE3 20*MHZ 20*MHZ
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SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
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SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ
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#SPIDEV iim42652 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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# IMUs
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IMU Invensensev3 SPI:ICM42688 ROTATION_NONE
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IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE
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IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE
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#IMU Invensensev3 SPI:iim42652 ROTATION_NONE
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# two baros
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BARO MS56XX SPI:ms5611
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BARO MS56XX SPI:ms5611_ext
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# probe external I2C compasses plus some internal IST8310
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 1
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undef AP_FEATURE_SBUS_OUT
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# Enable FAT filesystem support.
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define HAL_OS_FATFS_IO 1
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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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# Enable RAMTROM parameter storage.
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define HAL_WITH_RAMTRON 1
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define HAL_STORAGE_SIZE 32768
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# Setup the IMU heater
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
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# compensate for magnetic field generated by the heater on internal IST8310
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define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0xa),Vector3f(0,2,-19)}
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# this board does not have heater detection pins, so force via features register
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define AP_IOMCU_FORCE_ENABLE_HEATER 1
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# Enable all IMUs to be used and therefore three active EKF Lanes
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define HAL_EKF_IMU_MASK_DEFAULT 7
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# Now setup the default battery pins driver analog pins and default
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# scaling for the power brick.
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define HAL_BATT_VOLT_PIN 14
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define HAL_BATT_CURR_PIN 15
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define HAL_BATT_VOLT_SCALE 18.0
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define HAL_BATT_CURR_SCALE 24.0
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define HAL_GPIO_PWM_VOLT_PIN 3
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define HAL_GPIO_PWM_VOLT_3v3 1
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
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DMA_NOSHARE SPI1* SPI4* USART6*
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