ardupilot/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef.dat

# hw definition file for processing by chibios_hwdef.py

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 24000000

# board ID for firmware load
APJ_BOARD_ID 1083

FLASH_SIZE_KB 2048


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

FLASH_RESERVE_START_KB 128

define HAL_STORAGE_SIZE 32768

# order of I2C buses
I2C_ORDER I2C3 I2C2 I2C1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2

#DEFAULTGPIO OUTPUT LOW PULLDOWN

# USB.
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN
PC0 VBUS_nVALID INPUT PULLUP


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

PD3 EXTERN_GPIO4 OUTPUT GPIO(4) ALT(1)
PD4 EXTERN_GPIO5 OUTPUT GPIO(5) ALT(1)

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

# GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA

# GPS2
PE0 UART8_RX UART8
PE1 UART8_TX UART8 NODMA

# UART7 
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# UART for IOMCU
IOMCU_UART USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6


PA2 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)

# This defines an output pin which will default to output HIGH. It is
# a pin that enables peripheral power on this board. It starts in the
# off state, then is pulled low to enable peripherals in
# peripheral_power_enable()
#PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
# SWD debug
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM


# CAN1
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# CAN2
PB6 CAN2_TX CAN2
PB12 CAN2_RX CAN2

# I2C1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# I2C3 for onboard mag
PA8 I2C3_SCL I2C3
PC9 I2C3_SDA I2C3

# SPI1.
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1


# SPI4.
PE2 SPI4_SCK  SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# SPI2
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2


# This defines more ADC inputs.
PC3 AUX_POWER ADC1 SCALE(1)
PC4 AUX_ADC2 ADC1 SCALE(1)

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

# More CS pins for more sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PC2 42688_EXT_CS CS
PD7 BARO_EXT_CS CS
PC13 40605_EXT_CS CS
PE4 42688_CS CS
PC14 BARO_CS CS 
PD10 FRAM_CS CS
PD2 SDCARD_CS CS

PC1 42688_EXT_DRDY INPUT
PC15 40605_EXT_DRDY INPUT
PD15 42688_DRDY INPUT

# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set SERVOx_FUNCTION=-1 to determine which
# PWM outputs on the primary MCU are set up 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)


PB4  LED_RED     OUTPUT OPENDRAIN  GPIO(11) HIGH
PB3  LED_GREEN   OUTPUT OPENDRAIN  GPIO(12) HIGH
PB5  LED_BLUE    OUTPUT OPENDRAIN  GPIO(13) HIGH
define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

define HAL_GPIO_A_LED_PIN 11
define HAL_GPIO_B_LED_PIN 13
define HAL_GPIO_C_LED_PIN 12

define HAL_HAVE_PIXRACER_LED

# 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. 
PB2 VDD_BRICK_nVALID INPUT PULLUP
PB7 VDD_BRICK2_nVALID INPUT PULLUP
PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP

SPIDEV ms5611           SPI1 DEVID5  BARO_CS      MODE3   20*MHZ  20*MHZ
SPIDEV ms5611_ext       SPI4 DEVID2  BARO_EXT_CS  MODE3   20*MHZ  20*MHZ

SPIDEV ICM40605_ext     SPI4 DEVID4  40605_EXT_CS MODE3   2*MHZ   8*MHZ
SPIDEV ICM42688_ext     SPI4 DEVID5  42688_EXT_CS MODE3   2*MHZ   8*MHZ
SPIDEV ICM42688         SPI1 DEVID6  42688_CS     MODE3   2*MHZ   8*MHZ
#SPIDEV iim42652         SPI1 DEVID6  42688_CS     MODE3   2*MHZ   8*MHZ  

SPIDEV ramtron          SPI2 DEVID10 FRAM_CS      MODE3   8*MHZ   8*MHZ
SPIDEV sdcard           SPI2 DEVID1  SDCARD_CS    MODE0   400*KHZ 25*MHZ


# IMUs
IMU Invensensev3 SPI:ICM42688         ROTATION_NONE
IMU Invensensev3 SPI:ICM42688_ext     ROTATION_NONE
IMU Invensensev3 SPI:ICM40605_ext     ROTATION_NONE

#IMU Invensensev3 SPI:iim42652     ROTATION_NONE

define HAL_DEFAULT_INS_FAST_SAMPLE 7

# two baros
BARO MS56XX SPI:ms5611
BARO MS56XX SPI:ms5611_ext

# probe external I2C compasses plus some internal IST8310
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 1 

undef AP_FEATURE_SBUS_OUT


# Enable FAT filesystem support.
define HAL_OS_FATFS_IO 1

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

# Enable RAMTROM parameter storage.
define HAL_WITH_RAMTRON 1
define HAL_STORAGE_SIZE 32768

# Setup the IMU heater
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45
define HAL_IMUHEAT_P_DEFAULT 50
define HAL_IMUHEAT_I_DEFAULT 0.07
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5

# compensate for magnetic field generated by the heater on internal IST8310
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0xa),Vector3f(0,2,-19)}

# this board does not have heater detection pins, so force via features register
define AP_IOMCU_FORCE_ENABLE_HEATER 1

# Enable all IMUs to be used and therefore three active EKF Lanes
define HAL_EKF_IMU_MASK_DEFAULT 7

# Now setup the default battery pins driver analog pins and default
# scaling for the power brick.
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 18.0
define HAL_BATT_CURR_SCALE 24.0
define HAL_GPIO_PWM_VOLT_PIN 3
define HAL_GPIO_PWM_VOLT_3v3 1

ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin

DMA_NOSHARE SPI1* SPI4* USART6*