ardupilot/libraries/AP_HAL_ChibiOS/hwdef/mRoNexus/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# mRo Nexus CAN flight controller
# A Dual CAN based flight controller / CAN IMU
# 36mm x 36mm, 31.5mm x 31.5mm grommeted mounting holes
# M10084

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1015

# crystal frequency
OSCILLATOR_HZ 25000000


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

# use FRAM for storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1

# USB setup
USB_STRING_MANUFACTURER "mRo"

# Order of I2C buses
I2C_ORDER I2C4

# order of UARTs (and USB)
# OTG1 	SERIAL0
# UART4 SERIAL3
# UART7 SERIAL1
# OTG2 	SERIAL2

SERIAL_ORDER OTG1 UART7 OTG2 UART4

# UART4 SERIAL0 (GPS)
PD0 UART4_RX UART4
PD1 UART4_TX UART4

# UART7 SERIAL1 (SPARE UART)
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# VDD sense pin for the External 5v Supply
PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1.65)

# VDD sense pin for the CAN supplied 5v Supply
PA3 VDD_5V_SENS ADC1 SCALE(1.65)

#SPI2 SPIBus0 (1 device ADIS16470 6DOF)
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

#SPI3 SPIBus1 (2 devices ICM-40609 6DOF / RM3100 MAG
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PD6 SPI3_MOSI SPI3

#SPI4 SPIBus2 (2 devices DPS310 BARO / FM25V02 FRAM)
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# This input pin is used to detect that power is valid on USB.
PA9 VBUS_VALID INPUT

# 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

# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.
PD12 I2C4_SCL I2C4
PD13 I2C4_SDA I2C4

# this board only has a single I2C bus so make it external
define HAL_I2C_INTERNAL_MASK 0

# Now setup the pins for the microSD card, if available.
PC8  SDMMC1_D0 SDMMC1
PC9  SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2  SDMMC1_CMD SDMMC1

# More CS pins for more sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PB12 CS_ADIS16470 CS
PA15 CS_ICM40609D CS
PE3  CS_DPS310 CS
PB11 CS_RM3100 CS

# The CS pin for FRAM (ramtron). This one is marked as using
# SPEED_VERYLOW, which matches the HAL_PX4 setup.
PE4 CS_FRAM CS SPEED_VERYLOW

# the first CAN bus
PB9 CAN1_TX CAN1
PB8 CAN1_RX CAN1

PE0 GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW GPIO(72)

# This defines the pins for the 2nd CAN interface.
PB6 CAN2_TX CAN2
PB5 CAN2_RX CAN2

PB7 GPIO_CAN2_SILENT OUTPUT PUSHPULL LOW GPIO(73)

# This is the invensense data-ready pin. We don't use it in the
# default driver.
PD8  DRDY_ADIS16470 INPUT GPIO(93)
PE13 DRDY_ICM40609D INPUT 
PC13 DRDY_RM3100 INPUT

define HAL_DRDY_ADIS16470_PIN 93

# This is the reset line for the adis16470
PB1 nRST_ADIS OUTPUT HIGH GPIO(74)

# This is the pin to enable the sensors rail. It can be used to power
# cycle sensors to recover them in case there are problems with power on
# timing affecting sensor stability. We pull it high by default.

#SPI3 Devices ICM40609 and RM3100
PC6 SENSORS_SPI3_EN OUTPUT HIGH 

#SPI4 Devices DPS310 and FRAM
PC7 SENSORS_SPI4_EN OUTPUT HIGH 

SPIDEV adis16470  SPI2 DEVID1  CS_ADIS16470      MODE3  1*MHZ  2*MHZ 
SPIDEV icm40609d  SPI3 DEVID2  CS_ICM40609D      MODE3  16*MHZ 16*MHZ
SPIDEV rm3100      SPI3 DEVID4  CS_RM3100        MODE3  1*MHZ  1*MHZ
SPIDEV dps310      SPI4 DEVID3  CS_DPS310        MODE3  5*MHZ  5*MHZ
SPIDEV ramtron     SPI4 DEVID10 CS_FRAM          MODE3  8*MHZ  8*MHZ

# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 0

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

# Nexus has a TriColor LED like the Pixracer, Red, Green, Blue
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

# LED setup for PixracerLED driver
PA6 LED_R OUTPUT HIGH GPIO(0)
PA7 LED_G OUTPUT HIGH GPIO(1)
PB0 LED_B OUTPUT HIGH GPIO(2)

define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2

# 2 IMUs (Analog Devices ADIS16470 and Invensense / TDK ICM40609D)
IMU ADIS1647x      SPI:adis16470 ROTATION_ROLL_180 HAL_DRDY_ADIS16470_PIN
IMU Invensensev3   SPI:icm40609d ROTATION_NONE

# 1 Absolute Pressure Sensor (Infineon DPS310)
BARO DPS310        SPI:dps310

# 1 compass (PNI RM3100)
COMPASS RM3100     SPI:rm3100 false ROTATION_YAW_180 

define HAL_PROBE_EXTERNAL_I2C_COMPASSES