ardupilot/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef.dat

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# mRo Control Zero OEM H7 Flight Controller
# STM32H743IIK6
# 8x PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default)
# Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable
# Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-F-DV 1.00 mm Surface Mount Micro Low Profile Terminal Strip
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 3x I2C
# Onboard 3 color LED and buzzer
# Uncased Weight and Dimensions:
# Weight: 3.66g (13.oz)
# Width:  20mm (.79in)
# Length: 34mm (1.34in)
# M10059C - Initial Release
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# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1024

# crystal frequency
OSCILLATOR_HZ 24000000

FLASH_SIZE_KB 2048

# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2

# start on 2th sector (1st sector for bootloader)
FLASH_RESERVE_START_KB 128

define HAL_STORAGE_SIZE 32768

# USB setup
USB_STRING_MANUFACTURER "mRo"

# RC Input set for Interrupt not DMA
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW

# GPIO(70) # also USART6_RX for serial RC

# Control of Spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
define HAL_GPIO_SPEKTRUM_PWR 70

# Spektrum Power is Active High
define HAL_SPEKTRUM_PWR_ENABLED 0

# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71

# Order of I2C buses
I2C_ORDER I2C1 I2C3 I2C4

# this board has no internal I2C buses so them all external
define HAL_I2C_INTERNAL_MASK 0

# order of UARTs and suggested uses
# USART2 TELEM1
# USART3 TELEM2
# UART4 GPS
# UART8 FRSKY Telem
# UART7 DEBUG

# USART6 RC input (Only RX pin is connected)

# OTG1 and OTG2 are USB devices (1x physical USB connection enumerated as 2x logical ports)

SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2

# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2

# Another USART, this one for telem1. This one has RTS and CTS lines.
# USART2 telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
# USART3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3

# UART4 GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# UART7
PE8 UART7_TX UART7
PE7 UART7_RX UART7

# UART8 FrSky Telemetry (Single wire serial connects to the TX pin only)
PE1 UART8_TX UART8
PE0 UART8_RX UART8

# RSSI Analog Input
PC1 RSSI_IN ADC1

# Safety Switch Input
PC4 SAFETY_IN INPUT PULLDOWN
define HAL_HAVE_SAFETY_SWITCH 1

# Battery Analog Sense Pins
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)

# Now the VDD sense pin. This is used to sense primary board voltage.
PA4 VDD_5V_SENS ADC1 SCALE(2)

# Now setup the default battery pins driver analog pins and default
# scaling for the power brick.
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

#SPI1 ICM_20602 / ICM_20948
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

#SPI2 FRAM / DPS310
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

#SPI5 BMI088
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5

#SPI6 External
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6

# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT OPENDRAIN

# This input pin is used to detect that power is valid on USB.
PC0 VBUS_VALID INPUT PULLDOWN

# Now we define the pins that USB is connected on.
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM

# First I2C bus.
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# Second I2C bus.
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

# Third I2C bus.
PB6 I2C4_SCL I2C4
PB7 I2C4_SDA I2C4

# microSD card
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1

# CS pins for SPI sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PC2 ICM_20602_CS CS
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW NODMA
PE15 ICM_20948_CS CS
PF6 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG9 EXTERNAL CS

# CAN Busses
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

PB13 CAN2_TX CAN2
PB12 CAN2_RX CAN2

# CAN Silent Pins LOW Enable
PF5 GPIO_CAN_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)

# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
# outputs on the primary MCU are setup as PWM and how many as
# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
# starting at 50.
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PI5  TIM8_CH1 TIM8 PWM(7) GPIO(56)
PI6  TIM8_CH2 TIM8 PWM(8) GPIO(57)

# This is the invensense 20602 data-ready pin.
PD15 MPU_DRDY INPUT

# Power Supply Enable
PE3 VDD_1V8_3V3_SENSORS_EN OUTPUT HIGH

# Power Supply Enable 3.3v Periph/Spektrum
PC5 VDD_3V3_PERIPH_EN OUTPUT HIGH

# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp. 
PB5 VDD_BRICK_VALID INPUT PULLDOWN

SPIDEV dps310      SPI2 DEVID3  BARO_CS           MODE3  5*MHZ  5*MHZ
SPIDEV ramtron     SPI2 DEVID10 FRAM_CS           MODE3  8*MHZ  8*MHZ
SPIDEV bmi088_g    SPI5 DEVID1  BMI088_GYRO_CS    MODE3  5*MHZ  5*MHZ
SPIDEV bmi088_a    SPI5 DEVID2  BMI088_ACCEL_CS   MODE3  5*MHZ  5*MHZ
SPIDEV icm20608    SPI1 DEVID2  ICM_20602_CS      MODE3  2*MHZ  4*MHZ
SPIDEV icm20948    SPI1 DEVID1  ICM_20948_CS      MODE3  2*MHZ  4*MHZ

# Now some defines for logging and terrain data files.
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

# Enable RAMTROM parameter storage.
define HAL_WITH_RAMTRON 1

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

# Control Zero has a TriColor LED, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

# LED setup for PixracerLED driver
PB11 LED_R OUTPUT HIGH GPIO(0)
PB1  LED_G OUTPUT HIGH GPIO(1)
PB3  LED_B OUTPUT HIGH GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

# DMA_PRIORITY SDMMC*

# 3 IMUs
IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense   SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 7

# 1 baro
BARO DPS280      SPI:dps310

# 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES