Problem with hwdef.dat for a custom STM32H743VIH6 board

ArduCopter Copter 4.0
1

Hello,
I have designed my own board using an STM32H743VIH6 based on the MicoAir743 and NxtPX4v2.

Now I wanted to upload ardupilot to the board. I have written a minumum hwdef.dat file wich compiles. But after uploading and connecting with Missionplanner i get an config error: INS unable to initilize driver message.
Minimum HWDEF

hwdef(_dat).txt (784 Bytes)

I also wrote the following Bootloader hwdef:
hwdef-bl_dat.txt (876 Bytes)

Now the question is: Is there an obvious error in my config files or how should i proceed to debug the issue?

2

I solved my issue by including the code for an IMU.
hwdef:

# hw definition file for processing by chibios_hwdef.py
# for the AeroCore hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 2001

# crystal frequency
OSCILLATOR_HZ 8000000

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# flash size
FLASH_SIZE_KB 2048
FLASH_RESERVE_START_KB 128

define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14

# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN

# order of UARTs (and USB)
SERIAL_ORDER  OTG1 USART1 

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1


# GPS1
PA9  USART1_TX USART1
PA10 USART1_RX USART1


# ADC for Power
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

# SPI1 - IMU1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PB12 ICM_42688_1_CS CS

SPIDEV imu1      SPI1 DEVID1  ICM_42688_1_CS    MODE3  2*MHZ 10*MHZ

IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180

define HAL_BARO_ALLOW_INIT_NO_BARO
3

excuse me, I’m working for a project like you, I’m using WeAct STM32H743VIT6 for custom board but I dont know why after succesfully install bootloader and firmware of MatekH743 or Pixhawk 6c or Nucleoh743, it still not show the COM port. Do you have any idea to help me, pls ?

4

Hello,
I am not familiar with the board used and the board’s Firmware setups you are using.
Maybe there is a hardware difference between the used board and the board the firmware is designed for (for example the clock). You could follow the Ardupilot guide to port Ardupilot to a new board adjusted to your hardware.

5

thanks, Mr Danny. I will try it