Hello,
I have compiled and run the ArduPilot code for the Nucleo H753. In Mission Planner, I can see the DronCAN device list, but the autopilot name appears as “?” instead of the expected name.
Here is the hwdef.dat file I am using:
# hw definition file for processing by chibios_hwdef.py
# for H743 bootloader
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# crystal frequency
OSCILLATOR_HZ 8000000
define STM32_HSE_BYPASS
STM32_ST_USE_TIMER 5
define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN
# board ID for firmware load
APJ_BOARD_ID 139
# the nucleo seems to have trouble with flashing the last sector?
FLASH_SIZE_KB 2048
CANFD_SUPPORTED 8
env OPTIMIZE -O2
FLASH_RESERVE_START_KB 128
define HAL_STORAGE_SIZE 32768
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 UART7 OTG2
define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
define HAL_CHIBIOS_ARCH_FMUV5 1
define BOARD_TYPE_DEFAULT 24
PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
PG13 ETH_RMII_TXD0 ETH1
PB13 ETH_RMII_TXD1 ETH1
PG11 ETH_RMII_TX_EN ETH1
PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
define AP_NETWORKING_DEFAULT_MAC_ADDR "A8:B0:28:00:00:00"
define BOARD_PHY_ID MII_LAN8742A_ID
define BOARD_PHY_RMII
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# UART7 is debug
PF6 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
CANFD_SUPPORTED 8
I2C_ORDER I2C1 I2C2
# I2C1
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1
# I2C2
PF0 I2C2_SDA I2C2
PF1 I2C2_SCL I2C2
# barometers
BARO BMP085 I2C:0:0x77
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14
define HAL_SPI_CHECK_CLOCK_FREQ
# sensor CS
PA4 MPU_CS CS
PC7 BARO_CS CS
PB0 LED1 OUTPUT LOW
PB7 LED2 OUTPUT LOW
# SPI1
# PA5 SPI1_SCK SPI1
# PA6 SPI1_MISO SPI1
# PA7 SPI1_MOSI SPI1
# SPI3
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
# SPI devices
# SPIDEV mpu6000 SPI3 DEVID1 MPU_CS MODE3 2*MHZ 8*MHZ
# SPIDEV ms5611 SPI3 DEVID2 BARO_CS MODE3 8*MHZ 8*MHZ
# analog in
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
# PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
PF12 BATT_CURRENT_SENS ADC1 SCALE(1)
define ALLOW_ARM_NO_COMPASS
# probe for an invensense IMU
# IMU Invensense SPI:mpu6000 ROTATION_NONE
# and ms5611 baro
# BARO MS56XX SPI:ms5611
# define HAL_DISABLE_DCACHE`
Despite this configuration, the autopilot name is still not detected in Mission Planner’s DronCAN list.
Is there anything else I should modify to make the autopilot name visible?
Any help would be greatly appreciated!
Thanks!