mirror of https://github.com/ArduPilot/ardupilot
181 lines
3.9 KiB
Plaintext
181 lines
3.9 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for SP/Racing Extreme H7 hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32H7xx STM32H730xx
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# board ID for firmware load
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APJ_BOARD_ID 1108
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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MCU_CLOCKRATE_MHZ 520
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env OPTIMIZE -O2
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define HAL_WITH_EKF_DOUBLE 0
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STM32_ST_USE_TIMER 2
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# internal flash is off limits
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FLASH_SIZE_KB 128
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FLASH_RESERVE_START_KB 0
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define HAL_FLASH_PROTECTION 1
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EXT_FLASH_SIZE_MB 2
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I2C_ORDER I2C1 I2C2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 EMPTY USART2 USART3 UART4 UART5 EMPTY EMPTY UART8
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# Buzzer - DMA timer channel use by LEDs
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PD7 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# USB
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PA11 OTG_HS_DM OTG1
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PA12 OTG_HS_DP OTG1
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# Debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI2 SX1280
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# Requires a driver!
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PB12 SX1280_CS CS
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PD3 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI6 ICM42688
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PA15 ICM42688_CS CS
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PB3 SPI6_SCK SPI6
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PB4 SPI6_MISO SPI6
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PB5 SPI6_MOSI SPI6
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# SPI4 for OSD
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PE11 PIXELOSD_CS CS
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE14 SPI4_MOSI SPI4
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# I2C1 for external MAG connection on J8, no pull-ups, external pull-ups REQUIRED
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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# I2C2 has BMP388 internally connected, 10k pull-ups
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PB10 I2C2_SCL I2C2 PULLUP
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PB11 I2C2_SDA I2C2 PULLUP
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# ESC1 connector BATT/CURRENT
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PC3 BATT_VOLTAGE_SENS ADC2 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC2 SCALE(1)
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# ESC2 connector CURRENT
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PC0 BATT_CURRENT_SENS2 ADC2 SCALE(1) # analog pin 10
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# VTX Power control - should be high at startup to ensure power
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PC15 VTX_PWR OUTPUT HIGH GPIO(81)
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define RELAY2_PIN_DEFAULT 81
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# define default battery setup
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 10.9
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define HAL_BATT_CURR_SCALE 28.5
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define HAL_BATT_MONITOR_DEFAULT 4
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# USART2
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# USART3
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART4
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PD0 UART4_RX UART4
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PD1 UART4_TX UART4
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# UART5 (ESC Telem)
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PB13 UART5_TX UART5
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# UART8
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# SD 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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# OctoSPI Flash
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PD11 OCTOSPIM_P1_IO0 OCTOSPI1
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PD12 OCTOSPIM_P1_IO1 OCTOSPI1
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PE2 OCTOSPIM_P1_IO2 OCTOSPI1
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PD13 OCTOSPIM_P1_IO3 OCTOSPI1
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PE7 OCTOSPIM_P1_IO4 OCTOSPI1
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PE8 OCTOSPIM_P1_IO5 OCTOSPI1
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PE9 OCTOSPIM_P1_IO6 OCTOSPI1
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PE10 OCTOSPIM_P1_IO7 OCTOSPI1
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PB6 OCTOSPIM_P1_NCS OCTOSPI1
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PB2 OCTOSPIM_P1_CLK OCTOSPI1
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# Motors
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// On 4in1ESC_1 (Top)
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # M1
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M1
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PA6 TIM3_CH1 TIM3 PWM(3) GPIO(52) BIDIR # M3
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PA7 TIM3_CH2 TIM3 PWM(4) GPIO(53) # M4
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// On 4in1ESC_2 (Bottom)
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) BIDIR # M5
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PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55) # M6
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PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56) BIDIR # M7
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PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57) # M8
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// On
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PB7 TIM17_CH1N TIM17 PWM(9) GPIO(58) # LED
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# Red LED
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PE5 LED0 OUTPUT LOW GPIO(90)
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PE6 LED1 OUTPUT LOW GPIO(91)
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# spi devices
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SPIDEV icm42688 SPI6 DEVID1 ICM42688_CS MODE3 2*MHZ 16*MHZ
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#SPIDEV osd SPI4 DEVID4 PIXELOSD_CS MODE0 10*MHZ 10*MHZ
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#SPIDEV radio SPI2 DEVID1 SX1280_CS MODE0 10*MHZ 10*MHZ
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DMA_PRIORITY SPI6* SPI2* TIM3*
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 2
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# one BARO
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BARO BMP388 I2C:1:0x76
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# setup for OSD
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#define OSD_ENABLED 1
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#define HAL_OSD_TYPE_DEFAULT 1
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#ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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define BOARD_PWM_COUNT_DEFAULT 9
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define HAL_STORAGE_SIZE 16384
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