220 lines
5.0 KiB
Plaintext
220 lines
5.0 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
# for TBS FCAPv1 H743
|
|
|
|
# MCU class and specific type
|
|
MCU STM32H7xx STM32H743xx
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID AP_HW_TBS_LUCID_H7
|
|
|
|
# crystal frequency, setup to use external oscillator
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
FLASH_SIZE_KB 2048
|
|
env OPTIMIZE -Os
|
|
MCU_CLOCKRATE_MHZ 480
|
|
|
|
# bootloader takes first sector
|
|
FLASH_RESERVE_START_KB 128
|
|
|
|
# ChibiOS system timer
|
|
STM32_ST_USE_TIMER 12
|
|
define CH_CFG_ST_RESOLUTION 16
|
|
|
|
# USB
|
|
PA11 OTG_FS_DM OTG1
|
|
PA12 OTG_FS_DP OTG1
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# SPI1 for IMU1 (ICM42688)
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PD7 SPI1_MOSI SPI1
|
|
PC15 IMU1_CS CS
|
|
|
|
# SPI2 for MAX7456 OSD
|
|
PB12 MAX7456_CS CS
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
# SPI3 - external
|
|
PB3 SPI3_SCK SPI3
|
|
PB4 SPI3_MISO SPI3
|
|
PB5 SPI3_MOSI SPI3
|
|
|
|
# external CS pins
|
|
PD4 EXT_CS1 CS
|
|
PE2 EXT_CS2 CS
|
|
|
|
# SPI4 for IMU2 (ICM42688)
|
|
PE11 IMU2_CS CS
|
|
PE12 SPI4_SCK SPI4
|
|
PE13 SPI4_MISO SPI4
|
|
PE14 SPI4_MOSI SPI4
|
|
|
|
# two I2C bus
|
|
I2C_ORDER I2C2 I2C1
|
|
|
|
# I2C1
|
|
PB6 I2C1_SCL I2C1
|
|
PB7 I2C1_SDA I2C1
|
|
|
|
# I2C2 - Internal Baro
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# ADC
|
|
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
|
|
|
|
define HAL_BATT_MONITOR_DEFAULT 4
|
|
define HAL_BATT_VOLT_PIN 10
|
|
define HAL_BATT_CURR_PIN 11
|
|
define HAL_BATT2_VOLT_PIN 18
|
|
define HAL_BATT2_CURR_PIN 7
|
|
define HAL_BATT_VOLT_SCALE 11.0
|
|
define HAL_BATT_CURR_SCALE 40.0
|
|
define HAL_BATT2_VOLT_SCALE 11.0
|
|
|
|
PC4 PRESSURE_SENS ADC1 SCALE(2)
|
|
define HAL_DEFAULT_AIRSPEED_PIN 4
|
|
|
|
PC5 RSSI_ADC ADC1
|
|
define BOARD_RSSI_ANA_PIN 8
|
|
|
|
# LED
|
|
# green LED1 marked as B/E
|
|
# blue LED0 marked as ACT
|
|
define AP_NOTIFY_GPIO_LED_2_ENABLED 1
|
|
PE3 LED0 OUTPUT LOW GPIO(90) # blue
|
|
PE4 LED1 OUTPUT LOW GPIO(91) # green
|
|
define HAL_GPIO_A_LED_PIN 91
|
|
define HAL_GPIO_B_LED_PIN 90
|
|
|
|
# order of UARTs (and USB)
|
|
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8 OTG2
|
|
|
|
# USART1 (DJI SBUS in connector)
|
|
PA10 USART1_RX USART1 NODMA
|
|
PA9 USART1_TX USART1 NODMA
|
|
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_None
|
|
|
|
# USART2 (GPS1)
|
|
PD5 USART2_TX USART2
|
|
PD6 USART2_RX USART2
|
|
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_GPS
|
|
|
|
# USART3 (DJI O3 in connector)
|
|
PD9 USART3_RX USART3
|
|
PD8 USART3_TX USART3
|
|
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MSP_DisplayPort
|
|
|
|
# UART4 (Telem1)
|
|
PB9 UART4_TX UART4 NODMA
|
|
PB8 UART4_RX UART4 NODMA
|
|
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2
|
|
|
|
# USART6 (RCIN)
|
|
PC6 USART6_TX USART6
|
|
PC7 USART6_RX USART6
|
|
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
|
|
|
|
# UART7 (Telem2)
|
|
PE7 UART7_RX UART7
|
|
PE8 UART7_TX UART7
|
|
PE10 UART7_CTS UART7
|
|
PE9 UART7_RTS UART7
|
|
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
|
|
|
|
# UART8 (ESC Telemetry)
|
|
PE0 UART8_RX UART8 NODMA
|
|
PE1 UART8_TX UART8 NODMA
|
|
define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
|
|
|
|
# CAN bus
|
|
PD0 CAN1_RX CAN1
|
|
PD1 CAN1_TX CAN1
|
|
PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
|
|
|
|
# Motors
|
|
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
|
|
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
|
|
PA0 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR
|
|
PA1 TIM2_CH2 TIM2 PWM(4) GPIO(53)
|
|
PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR
|
|
PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)
|
|
PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR
|
|
PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
|
|
PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) BIDIR
|
|
PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
|
|
# Disable DMA on PWM11-12 so that the LEDs get a channel
|
|
PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA
|
|
PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA
|
|
# Motors
|
|
PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
|
|
|
|
# Beeper
|
|
PA15 BUZZER OUTPUT GPIO(32) LOW
|
|
define HAL_BUZZER_PIN 32
|
|
define AP_NOTIFY_TONEALARM_ENABLED 1
|
|
|
|
# microSD support
|
|
PC8 SDMMC1_D0 SDMMC1
|
|
PC9 SDMMC1_D1 SDMMC1
|
|
PC10 SDMMC1_D2 SDMMC1
|
|
PC11 SDMMC1_D3 SDMMC1
|
|
PC12 SDMMC1_CK SDMMC1
|
|
PD2 SDMMC1_CMD SDMMC1
|
|
|
|
# GPIOs
|
|
# Vsw
|
|
PD10 VSW OUTPUT GPIO(81) LOW
|
|
# CamSw
|
|
PD11 CAMSW OUTPUT GPIO(82) LOW
|
|
# 9V_EN
|
|
PC13 VPWR OUTPUT GPIO(83) LOW
|
|
|
|
define RELAY2_PIN_DEFAULT 81
|
|
define RELAY3_PIN_DEFAULT 82
|
|
define RELAY4_PIN_DEFAULT 83
|
|
|
|
DMA_PRIORITY SPI1* SPI4*
|
|
DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4*
|
|
|
|
define HAL_STORAGE_SIZE 32768
|
|
|
|
# use last 2 pages for flash storage
|
|
# H743 has 16 pages of 128k each
|
|
STORAGE_FLASH_PAGE 14
|
|
|
|
# spi devices
|
|
SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 16*MHZ # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
|
|
SPIDEV imu2 SPI4 DEVID1 IMU2_CS MODE3 2*MHZ 16*MHZ # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
|
|
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
|
|
|
|
# no built-in compass, but probe the i2c bus for all possible
|
|
# external compass types
|
|
define ALLOW_ARM_NO_COMPASS
|
|
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
define HAL_I2C_INTERNAL_MASK 2
|
|
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
|
|
|
IMU Invensensev3 SPI:imu1 ROTATION_YAW_270
|
|
IMU Invensensev3 SPI:imu2 ROTATION_YAW_180
|
|
define HAL_DEFAULT_INS_FAST_SAMPLE 3
|
|
|
|
# DPS310 integrated on I2C2 bus
|
|
BARO DPS310 I2C:0:0x76
|
|
|
|
define HAL_OS_FATFS_IO 1
|
|
|
|
# setup for OSD
|
|
define OSD_ENABLED 1
|
|
define HAL_OSD_TYPE_DEFAULT 1
|
|
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|