mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-23 17:18:28 -04:00
d22e3a1f52
fixes #19765, an alternative to #19768 the advantage of this approach is it is less error prone, as the actual position and size of the storage sectors is calculated
163 lines
3.4 KiB
Plaintext
163 lines
3.4 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteH7Mini hardware.
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1058
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 2048
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# leave 1 sectors free
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FLASH_RESERVE_START_KB 128
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# use last 2 pages for flash storage
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# H743 has 16 pages of 128k each
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STORAGE_FLASH_PAGE 14
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define HAL_STORAGE_SIZE 32768
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# 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 EMPTY USART6 UART7
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# buzzer
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PC13 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
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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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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for M25P16 dataflash
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PA4 FLASH_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI2 for MAX7456 OSD
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PB12 MAX7456_CS CS
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI4 for MPU6000
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PE4 MPU6000_CS CS
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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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# I2C1 for baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA8 VBUS INPUT
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# VTX Power control - should be high at startup to ensure power
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PB11 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_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11.1
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define HAL_BATT_CURR_SCALE 59.5
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 8
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PC2 LED0 OUTPUT LOW
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# USART1 (DJI VTX / RX)
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2 (VTX)
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2 NODMA
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# USART3 (GPS)
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# UART4
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PD0 UART4_RX UART4 NODMA
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PD1 UART4_TX UART4 NODMA
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# USART6 (RX / SBUS)
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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# UART7 used by ESC, TX is not connected
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PE7 UART7_RX UART7 NODMA
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define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define HAL_SERIAL6_BAUD 115
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define HAL_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
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define HAL_SERIAL7_BAUD 115
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# Motors
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
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PB3 TIM2_CH2 TIM2 PWM(3) GPIO(52) BIDIR
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PB10 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)
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PA2 TIM5_CH3 TIM5 PWM(6) GPIO(55)
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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# LED strip
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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DMA_NOSHARE SPI1* SPI4*
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# spi devices
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SPIDEV mpu6000 SPI4 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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# one BARO
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BARO BMP280 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 STM32_PWM_USE_ADVANCED TRUE
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