mirror of https://github.com/ArduPilot/ardupilot
218 lines
4.0 KiB
Plaintext
218 lines
4.0 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py for MFT-SEMA100
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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 2000
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FLASH_SIZE_KB 2048
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#
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env OPTIMIZE -Os
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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USB__STRING_MANUFACTURER "MFT"
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USB_STRING_PRODUCT "MFT-SEMA100"
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART5 UART7 UART8 OTG2
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# now we define the pins that USB is connected on
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# Port switching for USB HS and FS,high = USB_FS , LOW = USB_HS
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PH15 USB_HS_ENABLE OUTPUT HIGH
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define USB_HW_ENABLE_HS 0
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 - SD CARD
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PB3 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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PA15 SDCARD_CS CS
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PC4 SDCARD_DETECT INPUT
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# SPI2 - External
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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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# SPI4 - GYRO
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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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# sensor
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PE3 BMI088_A_CS CS
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PE4 BMI088_G_CS CS
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# I2C buses
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#I2C1 is External
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PB8 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2 for onboard mag
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# I2C3 for onboard BAROMETER
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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# I2C4 is External
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PD12 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C2 I2C3 I2C4 I2C1
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define HAL_I2C_INTERNAL_MASK 1
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# drdy pins
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PE11 DRDY1_LIS3MDL INPUT
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# UARTs
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#USART1 TX RX 1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 is TX RX 2
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# USART3 is TX RX 3
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PD9 USART3_RX USART3 NODMA
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PD8 USART3_TX USART3 NODMA
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# UART5 is TX RX 4
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PD2 UART5_RX UART5 NODMA
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PC12 UART5_TX UART5 NODMA
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# UART7 is TX RX 5
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE10 UART7_CTS UART7
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PE9 UART7_RTS UART7
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# SBUS, DSM port
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PE0 UART8_RX UART8
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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# PWM AUX channels
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PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
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PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
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PC7 TIM8_CH2 TIM8 PWM(3) GPIO(52)
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PC8 TIM8_CH3 TIM8 PWM(4) GPIO(53)
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)
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PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55)
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PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56)
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PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57)
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
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PA6 TIM3_CH1 TIM3 PWM(11) GPIO(60)
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PA7 TIM3_CH2 TIM3 PWM(12) GPIO(61)
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# allow for 14 PWMs by default
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# PWM output for buzzer
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PB15 TIM12_CH2 TIM12 GPIO(77) ALARM
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# analog in
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PA5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC5 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 19
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define HAL_BATT_VOLT_SCALE 10
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#define HAL_BATT2_VOLT_PIN 15
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#define HAL_BATT2_VOLT_SCALE 9
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define HAL_BATT_CURR_PIN 8
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define HAL_BATT_CURR_SCALE 10
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# 2nd CAN bus
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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# control for silent (no output) for CAN
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PD4 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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PD11 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
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# GPIOs
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PD10 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HAVE_IMU_HEATER 1
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#BARO
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BARO BMP388 I2C:1:0x77
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# SPI devices
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SPIDEV bmi088_a SPI4 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI4 DEVID2 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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# IMU
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS LIS3MDL I2C:ALL_INTERNAL:0x1C false ROTATION_NONE
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#LEDs
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PC13 LED_BOOTLOADER OUTPUT HIGH GPIO(0)
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PC6 LED_ACTIVITY OUTPUT LOW GPIO(1) # optional
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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#STORAGE
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STORAGE_FLASH_PAGE 14
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define HAL_STORAGE_SIZE 32768
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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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DMA_PRIORITY ADC* SPI4* TIM*UP*
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DMA_NOSHARE SPI4* TIM*UP*
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define DEFAULT_NTF_LED_TYPES 743
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