ardupilot/libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for Modal AI FC v1

# 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

# board ID for firmware load
APJ_BOARD_ID 41775

# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN

FLASH_RESERVE_START_KB 32

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -O2

# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 UART5 USART1 UART4 USART2 USART6 USART3 OTG2

# default the 2nd interface to MAVLink2
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2

# now we define the pins that USB is connected on
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT

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

# SPI1 - ICM20602
PA5 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PB5 SPI1_MOSI SPI1

# SPI2 - ICM42688
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2

# SPI5 - FRAM
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF11 SPI5_MOSI SPI5

# SPI6 - BMI088 6DoF, disabled due to lack of DMA channels
#PB3 SPI6_SCK SPI6
#PA6 SPI6_MISO SPI6
#PG14 SPI6_MOSI SPI6

# sensor CS
PI9  ICM20602_CS CS
PH5  ICM42688_CS CS
PA15 BMI088_G_CS CS
PI10 BMI088_A_CS CS
PG7  FRAM_CS CS SPEED_VERYLOW

# fsync pins
PA0 IMU_2_FSYNC INPUT FLOATING
PA1 IMU_3_FSYNC INPUT FLOATING

# interrupt pins
PF2  IMU_1_DRDY INPUT PULLDOWN
PH12 IMU_2_DRDY INPUT PULLDOWN
PG5  BARO_INT INPUT PULLDOWN
PF3  SPARE_INT INPUT PULLDOWN
PI6  IMU_3_ACCEL_INT INPUT PULLDOWN
PI7  IMU_3_GYRO_INT INPUT PULLDOWN

# LSE crystal, unused
PC14 LSE1 INPUT FLOATING
PC15 LSE2 INPUT FLOATING

# HWID pins, unused
PA4 HWID_DAC1 INPUT FLOATING
PF4 HW_VER_SENS INPUT FLOATING
PF5 HW_REV_SENS INPUT FLOATING
PG0 HW_VR_DRIVE INPUT FLOATING

# security module, A71CH
PH3 SEC_RESET INPUT PULLDOWN


# I2C buses

# I2C1, EXT_GPS_I2C
PB8 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2, DISPLAY_I2C
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

# I2C3, EXP_I2C
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

# I2C4, BMP388 BARO AND A71CH SEC MODULE (0x49)
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C4 I2C3 I2C2 I2C1

define HAL_I2C_INTERNAL_MASK 1

# GPIOs
PE3 EXC_GPIO_25 INPUT FLOATING GPIO(110)
# PE4 EXC_GPIO_26 INPUT FLOATING GPIO(111)

# allow to have have a dedicated safety switch pin
# on PE4
PE4 SAFETY_IN INPUT PULLDOWN
define HAL_HAVE_SAFETY_SWITCH 1
define BOARD_SAFETY_ENABLE_DEFAULT 0

# 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
PC13  VDD_3V3_SD_CARD_EN OUTPUT HIGH

# UARTs

# USART1 is EXT_GPS
PB15 USART1_RX USART1 NODMA
PB14 USART1_TX USART1

# USART2 is telem3, MSS_SPARE_4W
PA3 USART2_RX USART2 NODMA
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# USART3, UART_2W_DEBUG
PD9 USART3_RX USART3 NODMA
PD8 USART3_TX USART3

# UART4 GPS2, EXP_UART_2W
PH14 UART4_RX UART4 NODMA
PH13 UART4_TX UART4

# UART5 Telem 2, MSS_UART_4W
PD2 UART5_RX UART5
PB9 UART5_TX UART5
PC8 UART5_RTS UART5
PC9 UART5_CTS UART5

# USART6, spektrum
PC7 USART6_RX USART6 NODMA GPIO(74)
PC6 USART6_TX USART6

# RC input. Support all serial protocols on both PPM and spektrum
# ports. PPM protocol also supported on the PPM port
PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW

# setup for spektrum satellite bind
define HAL_GPIO_SPEKTRUM_RC 74
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
define HAL_GPIO_SPEKTRUM_PWR 73
define HAL_SPEKTRUM_PWR_ENABLED 1

# setup for RCIN on USUART6, will auto-baud for 100000 and 115200 and
# auto-switch inversion as needed
define HAL_SERIAL6_PROTOCOL 23
define HAL_SERIAL6_BAUD 115200

# UART7 Telem 1, TELEM_UART_4W
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PE9 UART7_RTS UART7
PE10 UART7_CTS UART7

# 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)
PA8  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)

# PWM output for buzzer
#PE5 TIM9_CH1 TIM9 GPIO(77) ALARM

define HAL_USE_ADC FALSE
define HAL_DISABLE_ADC_DRIVER TRUE

# INA231 battery monitor
define HAL_BATTMON_INA231_BUS 1
define HAL_BATTMON_INA231_ADDR 0x44
define HAL_BATT_MONITOR_DEFAULT 21

# on some units a LTC2946 is used
define HAL_BATTMON_LTC2946_BUS 1
define HAL_BATTMON_LTC2946_ADDR 0x6a

PC0 VDD_5V_SENS ADC1 SCALE(2) # ADC pin 10
PC1 SCALED_V3V3 ADC1 SCALE(2)

define ANALOG_VCC_5V_PIN 10

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

#PHI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)

# SPI devices
SPIDEV icm42688       SPI2 DEVID1  ICM42688_CS  MODE3  2*MHZ  8*MHZ
SPIDEV icm20602       SPI1 DEVID2  ICM20602_CS  MODE3  2*MHZ  8*MHZ
SPIDEV ramtron        SPI5 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ

# SPI6 disabled due to lack of DMA channels
#SPIDEV bmi088_g       SPI6 DEVID3  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
#SPIDEV bmi088_a       SPI6 DEVID4  BMI088_A_CS  MODE3 10*MHZ 10*MHZ

# two IMUs enabled
IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90
#IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 3

# one baro on I2C4
BARO BMP388 I2C:0:0x76

# microSD support on SDMMC2
PG9  SDMMC2_D0 SDMMC2
PG10 SDMMC2_D1 SDMMC2
PG11 SDMMC2_D2 SDMMC2
PG12 SDMMC2_D3 SDMMC2
PD6  SDMMC2_CK SDMMC2
PD7  SDMMC2_CMD SDMMC2

define FATFS_HAL_DEVICE SDCD2
define HAL_OS_FATFS_IO 1

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

# red LED
PB0 LED_RED OUTPUT OPENDRAIN GPIO(90)
PB1 LED_GREEN OUTPUT OPENDRAIN GPIO(91)
PA7 LED_BLUE OUTPUT OPENDRAIN GPIO(92)

# 2nd bank of LEDs
PI0  LED_RED_2   OUTPUT OPENDRAIN LOW GPIO(93)
PA2  LED_BLUE_2  OUTPUT OPENDRAIN LOW GPIO(94)
PH11 LED_GREEN_2 OUTPUT OPENDRAIN LOW GPIO(95)

# setup for BoardLED2
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 92
define HAL_GPIO_C_LED_PIN 91
define HAL_GPIO_LED_ON 0

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1

define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

DMA_PRIORITY SDMMC* ADC* SPI* TIM* UART*