ardupilot/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroClassic/hwdef.dat

###########################################################################################################################################################
# hw definition file for processing by chibios_hwdef.py
# STM32H743ZIT6
# mRo Control Zero Classic flight controller
# 12x PWM / IO - DMA capable and switchable 3.3v (default) / 5v Logic
# A Dual CAN based flight controller
# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF)
# Baro, FRAM (256kb), SDCARD Socket, JTAG
# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 2x I2C
# Onboard 3 color LED and buzzer
# Identical case and connector layout to the original 3DR / mRo Pixhawk
# M10048B - Initial Release
###########################################################################################################################################################

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# USB setup
USB_STRING_MANUFACTURER "mRo"

# board ID for firmware load
APJ_BOARD_ID 1022

# 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

# use FRAM for storage
define HAL_STORAGE_SIZE 32768

# Enable RAMTROM parameter storage.
define HAL_WITH_RAMTRON 1

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

# 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 Low
define HAL_SPEKTRUM_PWR_ENABLED 0

# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
PG0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71

# Order of I2C buses
I2C_ORDER I2C1 I2C4

# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# this board has no internal I2C busses
define HAL_I2C_INTERNAL_MASK 0

# order of UARTs (and USB) and suggested usage
# USART2 Telem 1 (Flow Control)
# USART3 Telem 2 (Flow Control)
# UART4 GPS with I2C1
# UART7 GPS2 with I2C4
# UART8 FRSKY Telem
# USART1 Additional UART

# UART6 RC input (Only RX pin is connected)

SERIAL_ORDER OTG1 USART2 USART3 UART4 UART7 UART8 USART1 OTG2

# Another USART, this one for telem1. This one has RTS and CTS lines.
# USART2 telem1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX 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 GPS2
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# UART8 FrSky Telemetry
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# USART1 Spektrum RX
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# This is the pin to enable the 3.3v 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.
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH GPIO(72)

# This is the pin to enable the 1.8v 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.
PC13 VDD_1V8_SENSORS_EN OUTPUT HIGH GPIO(73)

# This defines more ADC inputs.
PB0 AUX_ADC1 ADC1 SCALE(1)
PB1 AUX_ADC2 ADC1 SCALE(1)

# And the analog input for airspeed (rarely used these days).
PC5 PRESSURE_SENS ADC1 SCALE(2)

# Servo rail analog input
PF13 FMU_SERVORAIL_VCC_SENS ADC2 SCALE(2) 

# RSSI Analog Input
PC0 RSSI_IN ADC1

# Safety Switch Input
PA10 SAFETY_IN INPUT

PE6 LED_SAFETY OUTPUT

PC4 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 4
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

# Pins that USB is connected to.
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
PF6 TIM16_CH1 TIM16 GPIO(74) ALARM

# 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.
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW
PE15 ICM_20948_CS CS
PF0 BMI088_ACCEL_CS CS
PF10 BMI088_GYRO_CS CS
PG3 ICM_20602_CS CS
PG9 EXT_SPI_CS CS
PG10 EXT2_SPI_CS CS

# the first CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

PF11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(75)

# the second CAN bus
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2

PF12 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(76)

# 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)
PA2  TIM2_CH3  TIM2  PWM(7)  GPIO(56)
PA15 TIM2_CH1  TIM2  PWM(8)  GPIO(57)
PB11 TIM2_CH4  TIM2  PWM(9)  GPIO(58)
PE5  TIM15_CH1 TIM15 PWM(10) GPIO(59)
PC6  TIM8_CH1  TIM8  PWM(11) GPIO(60)
PD15 TIM4_CH4  TIM4  PWM(12) GPIO(61)

# This is the invensense data-ready pin. We don't use it in the
# default driver.
PG2 MPU_DRDY INPUT

# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v
PG6 PWM_VOLT_SEL OUTPUT LOW GPIO(77)
define HAL_GPIO_PWM_VOLT_PIN 77
define HAL_GPIO_PWM_VOLT_3v3 0

# 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. 
PC1 VDD_BRICK_nVALID INPUT PULLUP

SPIDEV bmi088_g SPI5 DEVID1  BMI088_GYRO_CS  MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI5 DEVID2  BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
SPIDEV icm20608 SPI1 DEVID2  ICM_20602_CS    MODE3  2*MHZ  8*MHZ
SPIDEV icm20948 SPI1 DEVID1  ICM_20948_CS    MODE3  2*MHZ  4*MHZ
SPIDEV dps310   SPI2 DEVID3  BARO_CS         MODE3  5*MHZ  5*MHZ
SPIDEV ramtron  SPI2 DEVID10 FRAM_CS         MODE3  8*MHZ  8*MHZ

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

# LED setup for PixracerLED driver
PB4 LED_R OUTPUT HIGH GPIO(0)
PB5 LED_G OUTPUT HIGH GPIO(1)
PB3 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

# 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

# 1 baro
BARO DPS280      SPI:dps310

# 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180

define HAL_PROBE_EXTERNAL_I2C_COMPASSES