ardupilot/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat

#42605 AND 42688 TOGETHER
# With suggestions by Andy
# LUMINOUS BEE 5.32/5.4 bidirectional telemetry 
# hw definition file for processing by chibios_hwdef.py

MCU_CLOCKRATE_MHZ 480 

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1029

# crystal frequency
OSCILLATOR_HZ 24000000

# flash size
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 16384

#define FAST_MCU 1 # HAL_HAVE_FAST_MCU 1 	# 480 Mhz

# only one I2C bus
I2C_ORDER I2C1
NODMA I2C*
define STM32_I2C_USE_DMA FALSE 


define HAL_I2C_INTERNAL_MASK 0

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7

# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# Battery & current control
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
PA4 VDD_5V_SENS ADC1 SCALE(2)

# SPI1 is sensors bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# optional baro2
PA8 BARO2_CS CS

# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT #OPENDRAIN

# 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

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

PB2 BOOT1 INPUT
#PB5 VDD_BRICK_VALID INPUT
PB5 VDD_BRICK_VALID INPUT PULLDOWN

# USART1 TX  now as led strip control
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
# PB6 USART1_TX USART1
PB7 USART1_RX USART1


# UWB DW1000
#PB4 UWB_CS CS

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# SPI2 is FRAM
PB10 SPI2_SCK SPI2
#PB12 CAN2_RX CAN2
#PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

#PC0 VBUS_VALID INPUT
PC0 VBUS_VALID INPUT PULLDOWN

#BMI088 CS
#PC2 BMI088_ACCEL_CS CS	#opt. second imu
#PC15 BMI088_GYRO_CS CS	#opt. second imu

PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT PULLDOWN
PC5 VDD_PERIPH_EN OUTPUT HIGH
PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial 



# 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


#PC13 SBUS_INV OUTPUT


#PD0 CAN1_RX CAN1
#PD1 CAN1_TX CAN1

# USART2 serial1 telem1

PD3 IMU_CS CS # ex usart2 RTS

PD5 USART2_TX USART2
PD6 USART2_RX USART2

PD7 BARO_CS CS


# USART3 serial2 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3

# The CS pin for FRAM (ramtron). This one is marked as using
# SPEED_VERYLOW, which matches the HAL_PX4 setup.
PD10 FRAM_CS CS SPEED_VERYLOW


#PD15 20608_DRDY INPUT  # IMU Luminous Bee
# CROSSFIRE RX
PE0 UART8_RX UART8
# CROSSFIRE TX
PE1 UART8_TX UART8



#set up SPI bus4
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
DMA_NOSHARE for SPI4* #ANDY



#PE3 VDD_SENSORS_EN OUTPUT HIGH
#PE4 SPEKTRUM_PWR OUTPUT HIGH

# UART7 FOR REMOTE ID OPTIONS
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)  BIDIR   #52
PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)  BIDIR   #50
PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)

DMA_PRIORITY TIM1_UP TIM1_CH4 TIM1_CH2


#PE12 MAG_DRDY INPUT
PE15 MAG_CS CS

# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
# SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
SPIDEV dps310      SPI2 DEVID3  BARO_CS           MODE3  5*MHZ  5*MHZ
#SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
#SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
#SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
#SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
SPIDEV icm42605     SPI4 DEVID4  IMU_CS     		MODE3   2*MHZ  16*MHZ
SPIDEV icm42688     SPI4 DEVID4  IMU_CS     		MODE3   2*MHZ  16*MHZ


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

define HAL_STORAGE_SIZE        16384

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1

# fallback to flash is no FRAM fitted
#define STORAGE_FLASH_PAGE 22

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

# pixracer has 3 LEDs, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

# LED setup for PixracerLED driver
PB11 LED_RED   OUTPUT GPIO(0)
PB1  LED_GREEN OUTPUT GPIO(1)
PB3  LED_BLUE  OUTPUT GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

# battery setup
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 3.28
define HAL_BATT_CURR_SCALE 3.06

# setup serial port defaults for ESP8266
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink
define DEFAULT_SERIAL5_BAUD 921600

# 6 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 7


# two IMUs
#IMU Invensense SPI:icm20608 ROTATION_YAW_180
IMU Invensensev3 SPI:icm42605 ROTATION_NONE
IMU Invensensev3 SPI:icm42688 ROTATION_NONE
#IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# 2 compasses. R15 has LIS3MDL instead of HMC5843
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
#COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90

# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# ONE barometer
BARO DPS280      SPI:dps310