mirror of https://github.com/ArduPilot/ardupilot
175 lines
4.0 KiB
Plaintext
175 lines
4.0 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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#following exapmle:
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#https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroH7/hwdef.dat#L105
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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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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID 5200
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# the nucleo seems to have trouble with flashing the last sector?
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FLASH_SIZE_KB 2048
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# This is the STM32 timer that ChibiOS will use for the low level
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# driver. This must be a 32 bit timer. We currently only support
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# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details.
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# ChibiOS system timer
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STM32_ST_USE_TIMER 5
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#optimize for space
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env OPTIMIZE -Os
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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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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STORAGE_FLASH_PAGE 14
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# (---FUTURE REVISION---): PA0 AS VDD_SENSE_PIN
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PA0 VDD_5V_SENS ADC1 SCALE(2)
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# order of I2C buses
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I2C_ORDER I2C1
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# I2C1 (SE_CONNECTOR)
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PB8 I2C1_SCL I2C1 PULLUP
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PB7 I2C1_SDA I2C1 PULLUP
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# USB setup
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USB_STRING_MANUFACTURER "Airvolute"
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# This is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN.
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PA9 VBUS INPUT OPENDRAIN
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3
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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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# (---FUTURE REVISION---): PWM output for buzzer
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PB15 TIM12_CH2 TIM12 GPIO(80) ALARM
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# (---FUTURE REVISION---): RC Input set for Interrupt not DMA
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PA6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW
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# UART SETUP
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# USART1 (SE_CONNECTOR)
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PB14 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2 (SE_CONNECTOR)
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (RC INPUT)
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PD9 USART3_RX USART3
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#LED RED
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PB1 LED1 OUTPUT HIGH
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#LED GREEN
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PA3 FMU_LED_AMBER OUTPUT LOW GPIO(0)
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# microSD card
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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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# CS pins for SPI 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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PD12 BMI088_ACC_CS CS
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PE13 BMI088_GYRO_CS CS
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PD13 BMP390_CS CS
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PD15 EXT_0_CS CS
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PD14 EXT_1_CS CS
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PD11 EXT_2_CS CS
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PD10 EXT_3_CS CS
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# CAN Busses
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PD0 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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# CAN1 Silent Pin LOW Enable
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PC7 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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# CAN2 Silent Pin LOW Enable
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PC6 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
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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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define BOARD_PHY_RMII
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define BOARD_PHY_ADDRESS 0x0000
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define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX
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define HAL_PERIPH_ENABLE_NETWORKING
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#PWM outputs
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PB3 TIM2_CH2 TIM2 PWM(1) GPIO(50) BIDIR
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PB10 TIM2_CH3 TIM2 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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# BMI088_DRDY
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PE12 BMI088_DRDY INPUT
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# (---FUTURE REVISION---) EXT IMU DRDY
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PD1 EXT_IMU_DRDY INPUT
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# SPI1 (ONBOARD SENSORS)
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI4 (EXTERNAL SENSORS)
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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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# SPI devices
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SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACC_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmp390 SPI1 DEVID3 BMP390_CS MODE3 5*MHZ 5*MHZ
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SPIDEV icm42688_ext SPI4 DEVID4 EXT_0_CS MODE3 5*MHZ 5*MHZ
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SPIDEV lis3mdl SPI4 DEVID5 EXT_1_CS MODE3 5*MHZ 5*MHZ
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# Enable FAT filesystem support (needs a microSD defined via SDMMC).
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define HAL_OS_FATFS_IO 1
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# IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
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IMU Invensense SPI:icm42688_ext ROTATION_NONE
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# 1 baro
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define HAL_BARO_ALLOW_INIT_NO_BARO 1
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BARO BMP388 SPI:bmp390
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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