mirror of https://github.com/ArduPilot/ardupilot
160 lines
3.4 KiB
Plaintext
160 lines
3.4 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
|
|
# for H757
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H757xx
|
|
|
|
define CORE_CM7
|
|
define SMPS_PWR
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1070
|
|
|
|
FLASH_SIZE_KB 2048
|
|
|
|
# bootloader is installed at zero offset
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# the location where the bootloader will put the firmware
|
|
# the H743 has 128k sectors
|
|
FLASH_BOOTLOADER_LOAD_KB 128
|
|
|
|
define HAL_LED_ON 0
|
|
|
|
# supports upto 8MBits/s
|
|
CANFD_SUPPORTED 8
|
|
|
|
|
|
# use last 2 pages for flash storage
|
|
# H757 has 16 pages of 128k each
|
|
STORAGE_FLASH_PAGE 14
|
|
define HAL_STORAGE_SIZE 32768
|
|
|
|
# ADC setup
|
|
PF11 FMU_SERVORAIL_VCC_SENS ADC1
|
|
PA6 RSSI_IN ADC1 SCALE(2)
|
|
|
|
# CAN config
|
|
PB14 GPIOCAN2_TERM OUTPUT HIGH
|
|
|
|
|
|
PA12 CAN1_TX CAN1
|
|
PB8 CAN1_RX CAN1
|
|
|
|
PB6 CAN2_TX CAN2
|
|
PB5 CAN2_RX CAN2
|
|
|
|
# SPI2
|
|
PB12 ICM_CS CS
|
|
PC1 SPI2_MOSI SPI2
|
|
PC2 SPI2_MISO SPI2
|
|
PB13 SPI2_SCK SPI2
|
|
|
|
# SPI4
|
|
PE4 BARO_CS CS
|
|
PE6 SPI4_MOSI SPI4
|
|
PE5 SPI4_MISO SPI4
|
|
PE2 SPI4_SCK SPI4
|
|
|
|
# Sensors
|
|
SPIDEV icm42688 SPI2 DEVID1 ICM_CS MODE3 2*MHZ 8*MHZ
|
|
SPIDEV ms5611 SPI4 DEVID2 BARO_CS MODE3 20*MHZ 20*MHZ
|
|
|
|
BARO MS56XX SPI:ms5611
|
|
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
|
|
|
|
CHECK_ICM42688 spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
|
|
CHECK_MS5611 check_ms5611("ms5611")
|
|
|
|
CHECK_IMU0_PRESENT $CHECK_ICM42688
|
|
CHECK_BARO0_PRESENT $CHECK_MS5611
|
|
|
|
BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT
|
|
|
|
define HAL_CHIBIOS_ARCH_FMUV3 1
|
|
|
|
define BOARD_TYPE_DEFAULT 3
|
|
|
|
# RCIN
|
|
PC8 TIM8_CH3 TIM8 RCININT PULLDOWN
|
|
|
|
# SWD
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# GPIO
|
|
PD10 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
|
|
PE15 VDD_BRICK_nVALID INPUT PULLUP
|
|
PG0 VDD_BRICK2_nVALID INPUT PULLUP
|
|
PG5 VDD_SERVO_FAULT INPUT PULLUP
|
|
PG1 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
|
|
|
|
# Control of Spektrum power pin
|
|
PB2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
|
|
define HAL_GPIO_SPEKTRUM_PWR 73
|
|
|
|
# Spektrum Power is Active High
|
|
define HAL_SPEKTRUM_PWR_ENABLED 1
|
|
|
|
|
|
# Timer
|
|
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
|
|
PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51)
|
|
PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
|
|
PA11 TIM1_CH4 TIM1 PWM(4) GPIO(53)
|
|
PA5 TIM2_CH1 TIM2 PWM(5) GPIO(54) BIDIR
|
|
PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55)
|
|
PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR
|
|
PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
|
|
|
|
# Correctly set Direction of PWMs
|
|
# if UNIDIR is set then BIDIR must be reset
|
|
PB0 BIDIR_ENABLED OUTPUT LOW GPIO(4)
|
|
PA7 HP_UNIDIR_ENABLED OUTPUT HIGH GPIO(5)
|
|
|
|
|
|
# UART connected to FMU, uses DMA
|
|
PE7 UART7_RX UART7 SPEED_HIGH
|
|
PE8 UART7_TX UART7 SPEED_HIGH
|
|
|
|
# UART for SBUS out
|
|
PC7 USART6_RX USART6 SPEED_HIGH LOW
|
|
PC6 USART6_TX USART6
|
|
|
|
# UART for DSM input
|
|
# TX side is for IO debug, and is unused
|
|
PC10 USART3_TX USART3 SPEED_HIGH
|
|
PC11 USART3_RX USART3 SPEED_HIGH
|
|
|
|
# UART for debug
|
|
PE1 UART8_TX UART8
|
|
PE0 UART8_RX UART8
|
|
|
|
# UART for RCIN
|
|
PD1 UART4_TX UART4
|
|
|
|
# USART for future use
|
|
PD5 USART2_TX USART2 SPEED_HIGH
|
|
PD6 USART2_RX USART2 SPEED_HIGH
|
|
PD4 USART2_RTS USART2 SPEED_HIGH
|
|
PD3 USART2_CTS USART2 SPEED_HIGH
|
|
|
|
# order of UARTs
|
|
SERIAL_ORDER UART7 UART8 USART3 USART6 UART4 USART2
|
|
|
|
# use 2 MBaud when talking to primary controller
|
|
define DEFAULT_SERIAL0_BAUD 2000000
|
|
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
|
|
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Sbus1
|
|
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN
|
|
|
|
|
|
# only use pulse input for PPM, other protocols
|
|
# are on serial
|
|
define HAL_RCIN_PULSE_PPM_ONLY
|
|
|
|
define MAV_SYSTEM_ID 3
|