# TerraHawk flight controller, generated by hw/flight-controller/make_hwdef.py # as a diff of Pixhawk6C/hwdef.dat at ArduPilot 4c98c92. Edit the script, not this file. # default to all pins low to avoid ESD issues #DEFAULTGPIO OUTPUT LOW PULLDOWN # MCU class and specific type MCU STM32H7xx STM32H743xx # crystal frequency OSCILLATOR_HZ 16000000 # ChibiOS system timer STM32_ST_USE_TIMER 2 # USB setup USB_STRING_MANUFACTURER "TerraHawk" # board ID. See Tools/AP_Bootloader/board_types.txt APJ_BOARD_ID 20410 FLASH_RESERVE_START_KB 128 # flash size FLASH_SIZE_KB 2048 # order of UARTs (and USB) SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 USART3 OTG2 # USB PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA9 VBUS INPUT OPENDRAIN # pins for SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # telem1 PE8 UART7_TX UART7 PE7 UART7_RX UART7 PE9 UART7_RTS UART7 LOW PULLDOWN PE10 UART7_CTS UART7 # telem2 PC12 UART5_TX UART5 PD2 UART5_RX UART5 PC8 UART5_RTS UART5 LOW PULLDOWN PC9 UART5_CTS UART5 # GPS1 PB6 USART1_TX USART1 PA10 USART1_RX USART1 # GPS2 PE1 UART8_TX UART8 PE0 UART8_RX UART8 # uart2 telem3 PD5 USART2_TX USART2 PA3 USART2_RX USART2 # debug uart PD8 USART3_TX USART3 PD9 USART3_RX USART3 # outputs 9-10 (TIM8): camera trigger, exposure feedback (was USART6 to the IO coprocessor). # NODMA: PWM needs none, and TIM8_UP would otherwise share a stream with SPI1_TX, the primary IMU PC6 TIM8_CH1 TIM8 PWM(9) GPIO(58) NODMA PC7 TIM8_CH2 TIM8 PWM(10) GPIO(59) NODMA # ADC PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC4 BATT_CURRENT_SENS ADC1 SCALE(1) PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(1) PA2 BATT2_CURRENT_SENS ADC1 SCALE(1) define HAL_BATT_VOLT_PIN 8 define HAL_BATT_CURR_PIN 4 define HAL_BATT_VOLT_SCALE 18.18 define HAL_BATT_CURR_SCALE 36.36 PA4 VDD_5V_SENS ADC1 SCALE(2) # SPI1 - IMUs PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PC13 ICM42688_CS CS PE6 ICM42688_DRDY INPUT # SPI6 - second IMU on its own bus PG13 SPI6_SCK SPI6 PG12 SPI6_MISO SPI6 PG14 SPI6_MOSI SPI6 PC15 LSM6DSV_CS CS PE4 LSM6DSV_DRDY INPUT # SPI2 - FRAM PD3 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 PD4 FRAM_CS CS # PWM output pins PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) PA8 TIM1_CH1 TIM1 PWM(3) GPIO(52) BIDIR PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) PE13 TIM1_CH3 TIM1 PWM(5) GPIO(54) BIDIR PE14 TIM1_CH4 TIM1 PWM(6) GPIO(55) PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PB5 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # I2C buses # I2C1, GPS+MAG PB7 I2C1_SDA I2C1 PB8 I2C1_SCL I2C1 # I2C2, GPS2+MAG PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # I2C4 internal PD12 I2C4_SCL I2C4 PD13 I2C4_SDA I2C4 # order of I2C buses I2C_ORDER I2C4 I2C1 I2C2 define HAL_I2C_INTERNAL_MASK 1 # this board is tight on DMA channels. To allow for more UART DMA we # disable DMA on I2C. This also prevents a problem with DMA on I2C # interfering with IMUs # heater PB9 HEATER_EN OUTPUT LOW GPIO(80) define HAL_HEATER_GPIO_PIN 80 # Setup the IMU heater define HAL_HAVE_IMU_HEATER 1 define HAL_IMU_TEMP_DEFAULT 45 define HAL_IMUHEAT_P_DEFAULT 50 define HAL_IMUHEAT_I_DEFAULT 0.07 # power enable pins PB2 VDD_3V3_SENSORS1_EN OUTPUT HIGH # start peripheral power on PC10 VDD_5V_HIPOWER_EN OUTPUT HIGH PE2 VDD_5V_PERIPH_EN OUTPUT HIGH # safety switch and LED on the FMU (were on the IO coprocessor) PE15 SAFETY_IN INPUT PULLDOWN PG0 LED_SAFETY OUTPUT # enable pin of the external switched 12 V video BEC (relay 2) PG1 VTX_EN OUTPUT LOW GPIO(81) # RSSI pad PC0 RSSI_IN ADC1 SCALE(1) # TPS2121 status: low means POWER2 (IN2) is supplying the board; high means POWER1 or neither. # Logged by the flight script. The VDD_BRICK*_nVALID inputs mean a supply is present, not in range: # a brick cut off by the ~5.6 V overvoltage limit still reads valid (th-eda, SCHEMATIC-NOTES.md). PF8 MUX_ST INPUT PULLUP GPIO(82) # power sensing PE3 VDD_5V_PERIPH_nOC INPUT PULLUP PC11 VDD_5V_HIPOWER_nOC INPUT PULLUP PA15 VDD_BRICK_nVALID INPUT PULLUP PB12 VDD_BRICK2_nVALID INPUT PULLUP # microSD support PD6 SDMMC2_CK SDMMC2 PD7 SDMMC2_CMD SDMMC2 PB14 SDMMC2_D0 SDMMC2 PB15 SDMMC2_D1 SDMMC2 PB3 SDMMC2_D2 SDMMC2 PB4 SDMMC2_D3 SDMMC2 define FATFS_HAL_DEVICE SDCD2 # LEDs PD10 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH PD11 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH # setup for BoardLED2 define AP_NOTIFY_GPIO_LED_2_ENABLED 1 define HAL_GPIO_A_LED_PIN 90 define HAL_GPIO_B_LED_PIN 92 # ID pins PE12 HW_VER_REV_DRIVE OUTPUT LOW # PC0 HW_REV_SENS ADC1 SCALE(1) # PC1 HW_VER_SENS ADC1 SCALE(1) # PWM output for buzzer PB0 TIM3_CH3 TIM3 GPIO(77) ALARM # barometers BARO MS5611 I2C:0:0x76 BARO MS5611 I2C:0:0x77 BARO BMP388 I2C:0:0x77 # prototypes may have no baro define HAL_BARO_ALLOW_INIT_NO_BARO 1 # compass define AP_COMPASS_PROBING_ENABLED 1 # we need to stop the probe of an IST8310 as an internal compass with PITCH_180 define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0 # Disable generic internal RM3100 probing so the explicit hwdef rotation is honoured define AP_COMPASS_RM3100_INTERNAL_BUS_PROBING_ENABLED 0 # SPI devices SPIDEV lsm6dsv SPI6 DEVID1 LSM6DSV_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42688 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # 2 IMUs # rotations are the 6C's until the layout fixes the IMU orientation (th-eda) IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 IMU LSM6DSV SPI:lsm6dsv ROTATION_PITCH_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 3 # enable RAMTRON parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 DMA_PRIORITY SPI1* TIM1* SDMMC* ADC* UART* USART* SPI* TIM* # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1