mirror of https://github.com/ArduPilot/ardupilot
161 lines
3.5 KiB
Plaintext
161 lines
3.5 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for H743
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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env OPTIMIZE -O2
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# USB setup
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USB_STRING_MANUFACTURER "ArduPilot"
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USB_STRING_PRODUCT "%BOARD%"
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# crystal frequency
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OSCILLATOR_HZ 25000000
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FLASH_SIZE_KB 2048
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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define HAL_BUILD_AP_PERIPH
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 128
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FLASH_BOOTLOADER_LOAD_KB 128
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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MAIN_STACK 0x2000
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PROCESS_STACK 0x6000
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# board ID for firmware load
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APJ_BOARD_ID 1315
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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###########################
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# CAN setup
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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###########################
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# UART 1 - Avionics
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# UART 2 - Avionics
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# UART 3 - unused, J2 (2 pin)
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PC10 UART4_TX UART4
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PC11 UART4_RX UART4
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# UART 4 - debug console, J6 (4 pin)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# Now we define the pins that USB is connected on.
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2
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#SERIAL_ORDER OTG1 USART1 USART2 OTG2
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#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7
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#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7 OTG2
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define AP_CAN_SLCAN_ENABLED 0
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###########################
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# storage
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###########################
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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###########################
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# Ethernet
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PB12 ETH_RMII_TXD0 ETH1
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PB13 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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PA15 GPIO_ETH_ENABLE INPUT FLOATING GPIO(113)
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define HAL_GPIO_ETH_ENABLE 113
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define BOARD_PHY_ID MII_LAN8742A_ID
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define BOARD_PHY_RMII
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define HAL_PERIPH_ENABLE_NETWORKING
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###################
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#Communications and debug
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# use DNA
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define HAL_CAN_DEFAULT_NODE_ID 0
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#################################
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# Multi-purpose pins like SPI, I2C, GPIO, PWMs, LEDs, ADC
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I2C_ORDER I2C4
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PD12 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# LEDs
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PE11 LED1 OUTPUT LOW GPIO(3)
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PE12 LED2 OUTPUT LOW GPIO(4)
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define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED1
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#define HAL_GPIO_PIN_LED_CAN1 HAL_GPIO_PIN_LED2
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define HAL_LED_ON 1
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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#################################
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# ---------------------------------------------------------------------------------------------
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# AP_Periph - boiler-plate configurations that all HW AP-Periph need
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# ---------------------------------------------------------------------------------------------
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define DISABLE_SERIAL_ESC_COMM TRUE
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define HAL_NO_RCIN_THREAD
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#define HAL_NO_GPIO_IRQ
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define HAL_DISABLE_LOOP_DELAY
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define HAL_PERIPH_SHOW_SERIAL_MANAGER_PARAMS
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define PERIPH_FW TRUE
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#define NO_DATAFLASH TRUE
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define HAL_LOGGING_ENABLED FALSE
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#################################
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# AP_Periph - configurations specific to this App
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#################################
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# listen for reboot command from uploader.py script
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# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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#################################
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DMA_NOSHARE USART1* USART2* CAN1*
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# bootloader embedding / bootloader flashing not available
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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AUTOBUILD_TARGETS None
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