ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for FMUv3 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4)

# MCU class and specific type. It is a F765, which is the same as F767
# but without the TFT interface
MCU STM32F7xx STM32F767xx

# crystal frequency
OSCILLATOR_HZ 16000000

define STM32_LSECLK 32768U
define STM32_LSEDRV (3U << 3U)
define STM32_PLLSRC STM32_PLLSRC_HSE
define STM32_PLLM_VALUE 8
define STM32_PLLN_VALUE 216
define STM32_PLLP_VALUE 2
define STM32_PLLQ_VALUE 9

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
define HAL_CHIBIOS_ARCH_FMUV5 1

# board ID for firmware load
APJ_BOARD_ID 50

FLASH_RESERVE_START_KB 32

# board voltage
STM32_VDD 330U

# flash size
FLASH_SIZE_KB 2048

# order of UARTs (and USB)
UART_ORDER OTG1 USART1 USART2 USART3 UART4 USART6

# 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

# SPI1 - internal sensors
PG11 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1

# SPI2 - FRAM
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2

# SPI4 - sensors2
PE2 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# SPI5 - external1
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5

# SPI6 - external2
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PB5 SPI6_MOSI SPI6

# sensor CS
PF10 MS5611_CS CS
PF2  ICM20689_CS CS
PF3  ICM20602_CS CS
PF4  BMI055_G_CS CS
PG10 BMI055_A_CS CS
PF5  FRAM_CS CS SPEED_VERYLOW

# I2C buses

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

#PF14 I2C4_SCK I2C4
#PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C2 I2C1 I2C3


# enable pins
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
PF12 nVDD_5V_HIPOWER_EN OUTPUT LOW
PG4  nVDD_5V_PERIPH_EN OUTPUT LOW
PG5  VDD_5V_RC_EN OUTPUT HIGH
PG6  VDD_5V_WIFI_EN OUTPUT HIGH
PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH

# UARTs

# USART2 is telem1
PD6 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# USART1 is GPS1
PB7 USART1_RX USART1 NODMA
PB6 USART1_TX USART1 NODMA

# USART3 is telem2
PD9 USART3_RX USART3
PD8 USART3_TX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3

# UART4 GPS2
PD0 UART4_RX UART4 NODMA
PD1 UART4_TX UART4 NODMA

# USART6 is telem3
PG9 USART6_RX USART6 NODMA
PG14 USART6_TX USART6 NODMA
PG15 USART6_CTS USART6
PG8 USART6_RTS USART6

# UART7 is debug
PF6 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# UART8 is for IOMCU
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# UART for IOMCU
IOMCU_UART UART8

# enable RTSCTS support
define AP_FEATURE_RTSCTS 1

# enable SBUS_OUT on IOMCU (if you have an IOMCU)
define AP_FEATURE_SBUS_OUT 1

SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
SPIDEV icm20689       SPI1 DEVID1  ICM20689_CS  MODE0  1*MHZ  8*MHZ
SPIDEV icm20602       SPI1 DEVID2  ICM20602_CS  MODE0  1*MHZ  8*MHZ
SPIDEV bmi055_g       SPI1 DEVID3  BMI055_G_CS  MODE3  8*MHZ  8*MHZ
SPIDEV bmi055_a       SPI1 DEVID4  BMI055_A_CS  MODE3  8*MHZ  8*MHZ
SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 16384
define HAL_WITH_RAMTRON 1

define STORAGE_FLASH_PAGE 11

define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI

define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE

DMA_PRIORITY UART8* TIM* SPI*

define CH_DBG_ENABLE_ASSERTS TRUE
define CH_DBG_ENABLE_CHECKS TRUE
define CH_DBG_SYSTEM_STATE_CHECK TRUE
define CH_DBG_ENABLE_STACK_CHECK TRUE

# define HAL_SPI_CHECK_CLOCK_FREQ 1

ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin