ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for the HolybroV6C hardware


# 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_VENDOR 0x3162 # ONLY FOR USE BY Holybro
USB_PRODUCT 0x0053
USB_STRING_MANUFACTURER "Holybro"

# board ID for firmware load
APJ_BOARD_ID 56

FLASH_RESERVE_START_KB 128

# to be compatible with the px4 bootloader we need
# to use a different RAM_MAP
env USE_ALT_RAM_MAP 1

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -O2

# 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

# USART6 is for IOMCU
PC6 USART6_TX USART6
PC7 USART6_RX USART6

IOMCU_UART USART6

# 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
PC14 BMI055_G_CS CS
PC15 BMI055_A_CS CS
PE4  BMI055_DRDY_A INPUT
PE5  BMI055_DRDY_G INPUT
PE6  ICM42688_DRDY INPUT

# SPI2 - FRAM
PD3 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2
PD4 FRAM_CS CS

# PWM output pins
PA8  TIM1_CH1 TIM1 PWM(1) GPIO(50)
PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52)
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54)
PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55)
PA0  TIM5_CH1 TIM5 PWM(7) GPIO(56)
PA1  TIM5_CH2 TIM5 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 nVDD_5V_HIPOWER_EN OUTPUT LOW
PE2  nVDD_5V_PERIPH_EN  OUTPUT LOW

# Control of Spektrum power pin
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
define HAL_GPIO_SPEKTRUM_PWR 73

# Spektrum Power is Active High
define HAL_SPEKTRUM_PWR_ENABLED 1

# 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 MS56XX I2C:0:0x76
BARO MS56XX I2C:0:0x77
BARO BMP388 I2C:0:0x77

# prototypes may have no baro
define HAL_BARO_ALLOW_INIT_NO_BARO 1

# compass
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE

# compensate for magnetic field generated by the heater on 6C IST8310
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xc,0xa),Vector3f(17,14,0)}


# we need to stop the probe of an IST8310 as an internal compass with PITCH_180
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE


# SPI devices
SPIDEV bmi055_g SPI1 DEVID1  BMI055_G_CS  MODE3 10*MHZ 10*MHZ
SPIDEV bmi055_a SPI1 DEVID2  BMI055_A_CS  MODE3 10*MHZ 10*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
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180
# BMI055 is replaced by BMI088 on the lastest hardware revision
# They use the same CPU signal pins
IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180

define HAL_DEFAULT_INS_FAST_SAMPLE 3

# enable RAMTROM 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 SDMMC* USART6* ADC* UART* USART* SPI* TIM*

# enable FAT filesystem support (needs a microSD defined via SDMMC)
define HAL_OS_FATFS_IO 1

ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
# enable support for dshot on iomcu
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
define HAL_WITH_IO_MCU_BIDIR_DSHOT 1