mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
e89eb34d55
move more of EKF into memory on H750 move rc handling into memory on H750 disable double math on SPRacing H7
196 lines
4.3 KiB
Plaintext
196 lines
4.3 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 STM32H750xx
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# board ID for firmware load
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APJ_BOARD_ID 1060
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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 480
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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 16
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EXT_FLASH_RESERVE_START_KB 1024
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EXT_FLASH_RESERVE_END_KB 448
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 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_FS_DM OTG1
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PA12 OTG_FS_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 ICM20602 #2
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PB12 ICM20602_2_CS CS
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# SPI3 ICM20602 #1
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PA15 ICM20602_1_CS CS
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PD6 SPI3_MOSI SPI3
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# SPI4 for OSD
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PE11 AT7456E_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 baro
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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# Internal current sensor
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
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# External current sensor
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PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1) # analog pin 8
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# VTX Power control - should be high at startup to ensure power
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PB01 VTX_PWR OUTPUT HIGH GPIO(81)
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define RELAY2_PIN_DEFAULT 81
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PC4 RSSI_IN ADC1
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define BOARD_RSSI_ANA_PIN 0
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# define default battery setup
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define HAL_BATT_VOLT_PIN 11
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define HAL_BATT_CURR_PIN 10
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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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# USART1 (RCIN)
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PB15 USART1_RX USART1
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PB14 USART1_TX USART1
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define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
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# USART2 (SmartPort)
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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
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PB5 UART5_RX UART5
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PB13 UART5_TX UART5
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# UART6
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PC7 USART6_RX USART6 ALT(1)
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PC6 USART6_TX USART6 ALT(1)
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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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# QuadSPI Flash
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PD11 QUADSPI_BK1_IO0 QUADSPI1
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PD12 QUADSPI_BK1_IO1 QUADSPI1
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PE2 QUADSPI_BK1_IO2 QUADSPI1
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PD13 QUADSPI_BK1_IO3 QUADSPI1
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PB10 QUADSPI_BK1_NCS QUADSPI1
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PB2 QUADSPI_CLK QUADSPI1
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# Motors
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PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1
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PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4
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PB6 TIM4_CH1 TIM4 PWM(5) GPIO(54) # M5
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PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
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PC6 TIM8_CH1 TIM8 PWM(7) GPIO(56) # M7
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PC7 TIM8_CH2 TIM8 PWM(8) GPIO(57) # M8
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # M10
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# Motor outputs on the stacking connector
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#PA6 TIM3_CH1 TIM3 PWM(1) GPIO(61) # M11
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#PA7 TIM3_CH2 TIM3 PWM(2) GPIO(62) # M12
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#PB0 TIM3_CH3 TIM3 PWM(3) GPIO(63) # M13
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#PB1 TIM3_CH4 TIM3 PWM(4) GPIO(64) # M14
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# NeoPixel LED strip
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PA8 TIM1_CH1 TIM1 PWM(11) GPIO(60)
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# Red LED
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PE3 LED0 OUTPUT LOW GPIO(90)
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# spi devices
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SPIDEV icm20602_1 SPI3 DEVID1 ICM20602_1_CS MODE3 2*MHZ 10*MHZ
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SPIDEV icm20602_2 SPI2 DEVID2 ICM20602_2_CS MODE3 2*MHZ 10*MHZ
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SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
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DMA_PRIORITY SPI3* SPI2* TIM5*
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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 0
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# two IMUs
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IMU Invensense SPI:icm20602_1 ROTATION_YAW_90
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IMU Invensense SPI:icm20602_2 ROTATION_YAW_135
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# one BARO
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BARO BMP388 I2C:0:0x76
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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 11
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define STM32_PWM_USE_ADVANCED TRUE
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define HAL_STORAGE_SIZE 16384
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