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196 lines
4.3 KiB
196 lines
4.3 KiB
# hw definition file for processing by chibios_pins.py |
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# for SkystarsH7HD |
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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 1075 |
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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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env OPTIMIZE -O2 |
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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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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 |
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# buzzer |
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PB3 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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define HAL_PWM_ALT_ALARM |
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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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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# SPI1 for BMI270 (Gyro 1) |
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PC15 BMI270_CS1 CS |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PD7 SPI1_MOSI SPI1 |
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PB2 BMI270_INT1 INPUT |
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# SPI2 for AT7456E OSD |
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PB12 AT7456E_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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# SPI3 for W25Q128 dataflash |
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PA15 FLASH_CS CS |
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PC10 SPI3_SCK SPI3 |
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PC11 SPI3_MISO SPI3 |
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PC12 SPI3_MOSI SPI3 |
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# SPI4 for BMI270 (Gyro 2) |
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PE11 BMI270_CS2 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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PE15 BMI270_INT2 INPUT |
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DMA_PRIORITY TIM1* TIM4* TIM3* TIM2* SPI1* SPI4* |
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DMA_NOSHARE SPI1_RX SPI2_TX SPI4_RX USART6_RX |
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# spi devices |
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SPIDEV bmi270_1 SPI1 DEVID1 BMI270_CS1 MODE3 1*MHZ 10*MHZ |
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SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ |
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SPIDEV dataflash SPI3 DEVID3 FLASH_CS MODE3 32*MHZ 32*MHZ |
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SPIDEV bmi270_2 SPI4 DEVID4 BMI270_CS2 MODE3 1*MHZ 10*MHZ |
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# one I2C bus |
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I2C_ORDER I2C2 I2C1 |
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# I2C1 - external |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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# I2C2 - internal Baro |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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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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# VTX Power control - should be high at startup to ensure power |
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PC5 VTX_PWR OUTPUT LOW GPIO(81) # labelled as "Pit-1" |
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PC2 VID_SELECT OUTPUT LOW GPIO(82) # labelled as "PIN-EN" |
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PD2 CAM_C OUTPUT LOW GPIO(83) # labelled as "CAM-C" |
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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_BATT2_VOLT_PIN 10 |
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define HAL_BATT2_CURR_PIN 12 |
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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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define HAL_BATT2_VOLT_SCALE 11.1 |
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define HAL_BATT2_CURR_SCALE 59.5 |
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PC3 RSSI_ADC ADC1 |
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define BOARD_RSSI_ANA_PIN 13 |
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PE3 LED0 OUTPUT LOW GPIO(90) # red, labelled as LED1 |
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PE4 LED1 OUTPUT LOW GPIO(91) # blue, labelled as LED2 |
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define HAL_GPIO_A_LED_PIN 90 |
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define HAL_GPIO_B_LED_PIN 91 |
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define HAL_GPIO_LED_OFF 1 |
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# USART1 |
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PA9 USART1_TX USART1 |
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PA10 USART1_RX USART1 |
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# USART2 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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# USART3 |
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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 |
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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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PB6 UART5_TX UART5 |
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# USART6 (RX / SBUS) |
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# as an alternative config setup the RX6 pin as a uart. This allows |
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# for bi-directional UART based receiver protocols such as FPort |
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# without any extra hardware |
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PC6 USART6_TX USART6 NODMA |
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PC7 USART6_RX USART6 NODMA ALT(1) |
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# UART7 |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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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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define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN |
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define HAL_SERIAL6_BAUD 115 |
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# Motors |
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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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PD12 TIM4_CH1 TIM4 PWM(3) GPIO(52) |
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PD13 TIM4_CH2 TIM4 PWM(4) GPIO(53) |
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PA0 TIM2_CH1 TIM2 PWM(5) GPIO(54) |
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PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55) |
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PA2 TIM2_CH3 TIM2 PWM(7) GPIO(56) |
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PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57) |
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# LED strip WS2812 / Neopixel |
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) |
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# RC input defaults to timer capture |
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW |
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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_PROBE_EXTERNAL_I2C_COMPASSES |
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define HAL_I2C_INTERNAL_MASK 0 |
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# two IMU |
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IMU BMI270 SPI:bmi270_1 ROTATION_ROLL_180_YAW_90 |
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IMU BMI270 SPI:bmi270_2 ROTATION_ROLL_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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