ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat

# hw definition file for processing by chibios_hwdef.py

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# USB setup
USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
USB_PRODUCT 0x004B
USB_STRING_MANUFACTURER "Holybro"
USB_STRING_PRODUCT "Durandal"
USB_STRING_SERIAL  "%SERIAL%"

# board ID for firmware load
APJ_BOARD_ID 139

FLASH_SIZE_KB 2048

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

# bootloader takes first sector
FLASH_RESERVE_START_KB 128


# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 UART7 OTG2

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

define HAL_STORAGE_SIZE 16384

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
define HAL_CHIBIOS_ARCH_FMUV5 1
define BOARD_TYPE_DEFAULT 24

# 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 SPEED_VERYLOW
PF3  ICM20602_CS CS SPEED_VERYLOW
PF4  BMI055_G_CS CS
PG10 BMI055_A_CS CS
PF5  FRAM_CS CS SPEED_VERYLOW

# external CS pins, SPI5 connector
PI4  EXT1_CS1 CS
PI10 EXT1_CS2 CS

# external CS pins, SPI6 connector
PI6 EXT2_CS1 CS
PI7 EXT2_CS2 CS
PI8 EXT2_CS3 CS


# I2C buses

# I2C1 is on GPS port
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# I2C on telem4 connector
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

# I2C for onboard mag
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

# I2C4 is on BDMA on DMAMUX2, connected to I2CA connector
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C3 I2C1 I2C2 I2C4

define HAL_I2C_INTERNAL_MASK 1

# enable pins
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW

# start peripheral power off, then enable after init
# this prevents a problem with radios that use RTS for
# bootloader hold
PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH

PG5  VDD_5V_RC_EN OUTPUT HIGH
PG6  VDD_5V_WIFI_EN OUTPUT HIGH
PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH

# drdy pins
PE7  DRDY8_NC INPUT
PB4  DRDY1_ICM20689 INPUT
PB14 DRDY2_BMI055_GYRO INPUT
PB15 DRDY3_BMI055_ACC INPUT
PC5  DRDY4_ICM20602 INPUT
PC13 DRDY5_BMI055_GYRO INPUT
PD10 DRDY6_BMI055_ACC INPUT
PD15 DRDY7_EXTERNAL1 INPUT

# 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
# we leave PG14 as an input to prevent it acting as a pullup
# on the IOMCU SBUS input
# PG14 USART6_TX USART6
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

# PWM AUX channels
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PA10 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)
# we need to disable DMA on the last 2 FMU channels
# as timer 12 doesn't have a TIMn_UP DMA option
PH6  TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
PH9  TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA

define BOARD_PWM_COUNT_DEFAULT 8

# PWM output for buzzer
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM

# analog in
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)

PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT2_CURRENT_SENS ADC1 SCALE(1)

PC4 SPARE1_ADC1 ADC1 SCALE(1)
PA4 SPARE2_ADC1 ADC1 SCALE(1)

PB0 RSSI_IN ADC1 SCALE(1)

#PC3 HW_REV_SENS ADC1 SCALE(1)
#PC2 HW_VER_SENS ADC1 SCALE(1)

PC0 VDD_5V_SENS ADC1 SCALE(2)
PC1 SCALED_V3V3 ADC1 SCALE(2)

# CAN bus
PI9  CAN1_RX CAN1
PH13 CAN1_TX CAN1

PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2

PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)

# GPIOs
PA7 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80

define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45

# SPI temperature sensor
PH5 TSENSE_CS CS

PG1 VDD_BRICK_nVALID INPUT PULLUP
PG2 VDD_BRICK2_nVALID INPUT PULLUP
PA9 VBUS INPUT
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH

# capture pins
PA5 FMU_CAP1 INPUT  GPIO(58)
PB3 FMU_CAP2 INPUT  GPIO(59)
PB11 FMU_CAP3 INPUT GPIO(60)
PI0 FMU_SPARE_4 INPUT GPIO(61)

# SPI devices
SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
SPIDEV icm20689       SPI1 DEVID1  ICM20689_CS  MODE3  2*MHZ  8*MHZ
SPIDEV icm20602       SPI1 DEVID2  ICM20602_CS  MODE3  2*MHZ  8*MHZ
SPIDEV bmi055_g       SPI1 DEVID3  BMI055_G_CS  MODE3 10*MHZ 10*MHZ
SPIDEV bmi055_a       SPI1 DEVID4  BMI055_A_CS  MODE3 10*MHZ 10*MHZ
SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 

# SPI5 external connections
SPIDEV external1m0   SPI5 DEVID1  EXT1_CS1   MODE0  2*MHZ  2*MHZ
SPIDEV external1m1   SPI5 DEVID1  EXT1_CS1   MODE1  2*MHZ  2*MHZ
SPIDEV external1m2   SPI5 DEVID1  EXT1_CS1   MODE2  2*MHZ  2*MHZ
SPIDEV external1m3   SPI5 DEVID1  EXT1_CS1   MODE3  2*MHZ  2*MHZ
SPIDEV external2m0   SPI5 DEVID2  EXT1_CS2   MODE0  2*MHZ  2*MHZ
SPIDEV external2m1   SPI5 DEVID2  EXT1_CS2   MODE1  2*MHZ  2*MHZ
SPIDEV external2m2   SPI5 DEVID2  EXT1_CS2   MODE2  2*MHZ  2*MHZ
SPIDEV external2m3   SPI5 DEVID2  EXT1_CS2   MODE3  2*MHZ  2*MHZ

# SPI6 external connections
SPIDEV external3m0   SPI6 DEVID1  EXT2_CS1   MODE0  2*MHZ  2*MHZ
SPIDEV external3m1   SPI6 DEVID1  EXT2_CS1   MODE1  2*MHZ  2*MHZ
SPIDEV external3m2   SPI6 DEVID1  EXT2_CS1   MODE2  2*MHZ  2*MHZ
SPIDEV external3m3   SPI6 DEVID1  EXT2_CS1   MODE3  2*MHZ  2*MHZ
SPIDEV external4m0   SPI6 DEVID2  EXT2_CS2   MODE0  2*MHZ  2*MHZ
SPIDEV external4m1   SPI6 DEVID2  EXT2_CS2   MODE1  2*MHZ  2*MHZ
SPIDEV external4m2   SPI6 DEVID2  EXT2_CS2   MODE2  2*MHZ  2*MHZ
SPIDEV external4m3   SPI6 DEVID2  EXT2_CS2   MODE3  2*MHZ  2*MHZ
SPIDEV external5m0   SPI6 DEVID2  EXT2_CS3   MODE0  2*MHZ  2*MHZ
SPIDEV external5m1   SPI6 DEVID2  EXT2_CS3   MODE1  2*MHZ  2*MHZ
SPIDEV external5m2   SPI6 DEVID2  EXT2_CS3   MODE2  2*MHZ  2*MHZ
SPIDEV external5m3   SPI6 DEVID2  EXT2_CS3   MODE3  2*MHZ  2*MHZ

# Two IMUs
IMU Invensense SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
# These are here for compatibility with pre-release boards
IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 7

# microSD support (disabled for now)
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1

# red LED marked as B/E
PB1 LED_RED OUTPUT GPIO(90)

# green LED marked as PWR. We leave this solid on, but allow
# for it to be controlled as a relay if needed
PC6 LED_GREEN OUTPUT GPIO(91) LOW

# blue LED marked as ACT
PC7 LED_BLUE OUTPUT GPIO(92) HIGH

# setup for BoardLED2
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 92
define HAL_GPIO_LED_ON 0

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 16384
define HAL_WITH_RAMTRON 1

# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1

# one baro
BARO MS56XX SPI:ms5611

define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

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

define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin

# don't share IOMCU DMA
DMA_NOSHARE UART8* SPI1* TIM*UP*

DMA_PRIORITY UART8* ADC* SPI1*

# battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 16
define HAL_BATT_CURR_PIN 17
define HAL_BATT2_VOLT_PIN 14
define HAL_BATT2_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 18.182
define HAL_BATT_CURR_SCALE 36.364


# there is an issue with DMA on SPI which needs to be solved
# before we enable it
#define HAL_SPI_USE_POLLED