mirror of https://github.com/ArduPilot/ardupilot
248 lines
5.9 KiB
Plaintext
248 lines
5.9 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1083
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
|
|
# with 2M flash we can afford to optimize for speed
|
|
env OPTIMIZE -O2
|
|
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C3 I2C2 I2C1
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
|
|
|
|
#DEFAULTGPIO OUTPUT LOW PULLDOWN
|
|
|
|
# USB.
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
PA9 VBUS INPUT OPENDRAIN
|
|
PC0 VBUS_nVALID INPUT PULLUP
|
|
|
|
|
|
# telem1
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
PD3 USART2_CTS USART2
|
|
PD4 USART2_RTS USART2
|
|
|
|
PD3 EXTERN_GPIO4 OUTPUT GPIO(4) ALT(1)
|
|
PD4 EXTERN_GPIO5 OUTPUT GPIO(5) ALT(1)
|
|
|
|
# telem2
|
|
PD8 USART3_TX USART3
|
|
PD9 USART3_RX USART3
|
|
PD11 USART3_CTS USART3
|
|
PD12 USART3_RTS USART3
|
|
|
|
# GPS
|
|
PA0 UART4_TX UART4
|
|
PA1 UART4_RX UART4 NODMA
|
|
|
|
# GPS2
|
|
PE0 UART8_RX UART8
|
|
PE1 UART8_TX UART8 NODMA
|
|
|
|
# UART7
|
|
PE7 UART7_RX UART7
|
|
PE8 UART7_TX UART7
|
|
|
|
# UART for IOMCU
|
|
IOMCU_UART USART6
|
|
PC6 USART6_TX USART6
|
|
PC7 USART6_RX USART6
|
|
|
|
|
|
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
# Now the VDD sense pin. This is used to sense primary board voltage.
|
|
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
|
|
|
# This defines an output pin which will default to output HIGH. It is
|
|
# a pin that enables peripheral power on this board. It starts in the
|
|
# off state, then is pulled low to enable peripherals in
|
|
# peripheral_power_enable()
|
|
#PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH
|
|
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
|
|
# SWD debug
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# PWM output for buzzer
|
|
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
|
|
|
|
|
|
# CAN1
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
|
|
# CAN2
|
|
PB6 CAN2_TX CAN2
|
|
PB12 CAN2_RX CAN2
|
|
|
|
# I2C1
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
# I2C2
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# I2C3 for onboard mag
|
|
PA8 I2C3_SCL I2C3
|
|
PC9 I2C3_SDA I2C3
|
|
|
|
# SPI1.
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
|
|
|
|
# SPI4.
|
|
PE2 SPI4_SCK SPI4
|
|
PE5 SPI4_MISO SPI4
|
|
PE6 SPI4_MOSI SPI4
|
|
|
|
# SPI2
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
|
|
# This defines more ADC inputs.
|
|
PC3 AUX_POWER ADC1 SCALE(1)
|
|
PC4 AUX_ADC2 ADC1 SCALE(1)
|
|
|
|
# And the analog input for airspeed (rarely used these days).
|
|
PC5 PRESSURE_SENS ADC1 SCALE(2)
|
|
|
|
# More CS pins for more sensors. The labels for all CS pins need to
|
|
# match the SPI device table later in this file.
|
|
PC2 42688_EXT_CS CS
|
|
PD7 BARO_EXT_CS CS
|
|
PC13 40605_EXT_CS CS
|
|
PE4 42688_CS CS
|
|
PC14 BARO_CS CS
|
|
PD10 FRAM_CS CS
|
|
PD2 SDCARD_CS CS
|
|
|
|
PC1 42688_EXT_DRDY INPUT
|
|
PC15 40605_EXT_DRDY INPUT
|
|
PD15 42688_DRDY INPUT
|
|
|
|
# Now we start defining some PWM pins. We also map these pins to GPIO
|
|
# values, so users can set SERVOx_FUNCTION=-1 to determine which
|
|
# PWM outputs on the primary MCU are set up as GPIOs.
|
|
# To match HAL_PX4 we number the GPIOs for the PWM outputs
|
|
# starting at 50.
|
|
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
|
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
|
|
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
|
|
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
|
|
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
|
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
|
|
|
|
|
|
PB4 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH
|
|
PB3 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH
|
|
PB5 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH
|
|
|
|
define HAL_GPIO_A_LED_PIN 11
|
|
define HAL_GPIO_B_LED_PIN 13
|
|
define HAL_GPIO_C_LED_PIN 12
|
|
|
|
define HAL_HAVE_PIXRACER_LED
|
|
|
|
# Power flag pins: these tell the MCU the status of the various power
|
|
# supplies that are available. The pin names need to exactly match the
|
|
# names used in AnalogIn.cpp.
|
|
PB2 VDD_BRICK_nVALID INPUT PULLUP
|
|
PB7 VDD_BRICK2_nVALID INPUT PULLUP
|
|
PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
|
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
|
|
|
SPIDEV ms5611 SPI1 DEVID5 BARO_CS MODE3 20*MHZ 20*MHZ
|
|
SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
|
|
|
|
SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ
|
|
#SPIDEV iim42652 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
|
|
SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
|
|
|
|
|
# IMUs
|
|
IMU Invensensev3 SPI:ICM42688 ROTATION_NONE
|
|
IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE
|
|
IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE
|
|
|
|
#IMU Invensensev3 SPI:iim42652 ROTATION_NONE
|
|
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
|
|
|
# two baros
|
|
BARO MS56XX SPI:ms5611
|
|
BARO MS56XX SPI:ms5611_ext
|
|
|
|
# probe external I2C compasses plus some internal IST8310
|
|
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
undef AP_FEATURE_SBUS_OUT
|
|
|
|
|
|
# Enable FAT filesystem support.
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
# allow to have have a dedicated safety switch pin
|
|
define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
# Enable RAMTROM parameter storage.
|
|
define HAL_WITH_RAMTRON 1
|
|
define HAL_STORAGE_SIZE 32768
|
|
|
|
# Setup the IMU heater
|
|
define HAL_HAVE_IMU_HEATER 1
|
|
define HAL_IMU_TEMP_DEFAULT 45
|
|
define HAL_IMUHEAT_P_DEFAULT 50
|
|
define HAL_IMUHEAT_I_DEFAULT 0.07
|
|
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
|
|
|
|
# compensate for magnetic field generated by the heater on internal IST8310
|
|
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0xa),Vector3f(0,2,-19)}
|
|
|
|
# this board does not have heater detection pins, so force via features register
|
|
define AP_IOMCU_FORCE_ENABLE_HEATER 1
|
|
|
|
# Enable all IMUs to be used and therefore three active EKF Lanes
|
|
define HAL_EKF_IMU_MASK_DEFAULT 7
|
|
|
|
# Now setup the default battery pins driver analog pins and default
|
|
# scaling for the power brick.
|
|
define HAL_BATT_VOLT_PIN 14
|
|
define HAL_BATT_CURR_PIN 15
|
|
define HAL_BATT_VOLT_SCALE 18.0
|
|
define HAL_BATT_CURR_SCALE 24.0
|
|
define HAL_GPIO_PWM_VOLT_PIN 3
|
|
define HAL_GPIO_PWM_VOLT_3v3 1
|
|
|
|
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|
|
|
|
DMA_NOSHARE SPI1* SPI4* USART6*
|