diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h new file mode 100644 index 000000000..60515647e --- /dev/null +++ b/configs/PRINCIPIOTH7PI/config.h @@ -0,0 +1,204 @@ +/* + * This file is part of Betaflight. + * + * Betaflight is free software. You can redistribute this software + * and/or modify this software under the terms of the GNU General + * Public License as published by the Free Software Foundation, + * either version 3 of the License, or (at your option) any later + * version. + * + * Betaflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + * See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public + * License along with this software. + * + * If not, see . + */ + +#pragma once + +#define FC_TARGET_MCU STM32H743 + +#define BOARD_NAME PRINCIPIOTH7PI +#define MANUFACTURER_ID PRIN + +#define USB_DETECT_PIN PE2 + +#define BEEPER_PIN PA15 +#define MOTOR1_PIN PA0 +#define MOTOR2_PIN PA1 +#define MOTOR3_PIN PA2 +#define MOTOR4_PIN PA3 +#define MOTOR5_PIN PB1 +#define MOTOR6_PIN PB0 +#define SERVO1_PIN PE5 +#define SERVO2_PIN PE6 +#define LED_STRIP_PIN PA8 + +// Debug connector +#define UART2_TX_PIN PD5 +#define UART2_RX_PIN PD6 + +// Telem to Raspberry Pi +#define UART3_TX_PIN PD8 +#define UART3_RX_PIN PD9 + +// GPS +#define UART4_TX_PIN PB9 +#define UART4_RX_PIN PB8 + +// VTX +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +// ESC Telem in (RX only) +#define UART7_TX_PIN PE8 // Not connected +#define UART7_RX_PIN PE7 + +// Receiver +#define UART8_TX_PIN PE1 +#define UART8_RX_PIN PE0 + +// Baro I2C +#define I2C1_SCL_PIN PB6 +#define I2C1_SDA_PIN PB7 + +// Mag and GPS (External) I2C +#define I2C2_SCL_PIN PB10 +#define I2C2_SDA_PIN PB11 + +// LED pins, active low +#define LED0_PIN PE3 // Blue +#define LED1_PIN PE4 // Green + +// ICM-42688P IMU +#define SPI1_SCK_PIN PA5 +#define SPI1_SDI_PIN PA6 +#define SPI1_SDO_PIN PD7 + +// Unused +//#define SPI2_SCK_PIN PB13 +//#define SPI2_SDI_PIN PB14 +//#define SPI2_SDO_PIN PB15 + +// FRAM (Unused for BF) +#define SPI3_SCK_PIN PB3 +#define SPI3_SDI_PIN PB4 +#define SPI3_SDO_PIN PB5 +// CS pin for SPI3 connection: PD4 + +// IIM-42653 IMU +#define SPI4_SCK_PIN PE12 +#define SPI4_SDI_PIN PE13 +#define SPI4_SDO_PIN PE14 + +// ADC pins +#define ADC_VBAT_PIN PC0 +#define ADC_CURR_PIN PC1 + +#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC + +#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC + +#define ADC1_DMA_OPT 9 +#define ADC3_DMA_OPT 10 + +// SD card +#define USE_SDCARD +#define SDIO_CK_PIN PC12 +#define SDIO_CMD_PIN PD2 +#define SDIO_D0_PIN PC8 +#define SDIO_D1_PIN PC9 +#define SDIO_D2_PIN PC10 +#define SDIO_D3_PIN PC11 +#define SDCARD_DETECT_PIN PD15 +#define SDCARD_DETECT_INVERTED + +#define SDIO_DEVICE SDIODEV_1 +#define SDIO_USE_4BIT 1 + +#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SDCARD + +// Sensors +#define USE_ACC +#define USE_GYRO +#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH + +// IMU 1 (ICM-42688P) +#define USE_ACC_SPI_ICM42688P +#define USE_GYRO_SPI_ICM42688P + +#define GYRO_1_EXTI_PIN PB2 +#define GYRO_1_CS_PIN PC15 +#define GYRO_1_SPI_INSTANCE SPI1 +#define GYRO_1_ALIGN CW0_DEG + +// IMU 2 (IIM-42653) +#define USE_ACCGYRO_IIM42653 + +#define GYRO_2_EXTI_PIN PE15 +#define GYRO_2_CS_PIN PE11 +#define GYRO_2_SPI_INSTANCE SPI4 +#define GYRO_2_ALIGN CW0_DEG + +// Baro +#define USE_BARO +#define USE_BARO_DPS310 // DPS368, but it's equivalent +#define BARO_I2C_INSTANCE I2CDEV_1 + +// Mag +#ifndef USE_MAG +#define USE_MAG +#endif +#define USE_MAG_LIS2MDL +#define MAG_I2C_INSTANCE I2CDEV_2 +#define MAG_ALIGN CW90_DEG + +/* +Pin mapping: +Motor 1 (TIM5 CH1) +Motor 2 (TIM5 CH2) +Motor 3 (TIM5 CH3) +Motor 4 (TIM5 CH4) +Motor 5 (TIM3 CH3) +Motor 6 (TIM3 CH4) +Servo 1 (TIM15 CH1) +Servo 2 (TIM15 CH2) +LED strip (TIM1 CH1) +Beeper (TIM2 CH1) +*/ + +#define TIMER_PIN_MAPPING \ + TIMER_PIN_MAP( 0, PA0 , 2, 0) \ + TIMER_PIN_MAP( 1, PA1 , 2, 1) \ + TIMER_PIN_MAP( 2, PA2 , 2, 2) \ + TIMER_PIN_MAP( 3, PA3 , 2, 3) \ + TIMER_PIN_MAP( 4, PB0 , 2, 4) \ + TIMER_PIN_MAP( 5, PB1 , 2, 5) \ + TIMER_PIN_MAP( 6, PE5 , 1, -1) \ + TIMER_PIN_MAP( 7, PE6 , 1, -1) \ + TIMER_PIN_MAP( 8, PA8 , 1, 8) \ + TIMER_PIN_MAP( 9, PA15, 1, -1) + +#define TIMUP3_DMA_OPT 11 +#define TIMUP5_DMA_OPT 12 + +// Other features: +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define SERIALRX_UART SERIAL_PORT_USART8 +#define GPS_UART SERIAL_PORT_UART4 + +// PINIO +// PINIO 1 is the 10V enable pin for VTX power +#define PINIO1_PIN PD10 +#define PINIO1_CONFIG 129 // PINIO_CONFIG_MODE_OUT_PP, 10V enable, active low +#define PINIO1_BOX 40 // USER1 +#define BOX_USER1_NAME "VTX PWR" + +#define PINIO2_PIN PD11 +#define PINIO2_CONFIG 1 // PINIO_CONFIG_MODE_OUT_PP +#define PINIO2_BOX 41 // USER2