ardupilot/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

# Processed by chibios_hwdef.py

include common.inc

# ChibiOS system timer
STM32_ST_USE_TIMER 2

# Bootloader takes first sector
FLASH_RESERVE_START_KB 128

# Use last 2 pages for flash storage
# H743 has 16 pages of 128k each
define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14

# To be compatible with the px4 bootloader we need
# to use a different RAM_MAP
env USE_ALT_RAM_MAP 1

SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2

# Debug console
STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600

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

# Telem
PE8  UART7_TX  UART7
PF6  UART7_RX  UART7
PF8  UART7_RTS UART7
PE10 UART7_CTS UART7

# VTX (DJI Air Unit)
PC12 UART5_TX UART5
PD2  UART5_RX UART5
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort

# GPS
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# VTX (DJI Air Unit, RX only)
PA3 USART2_RX USART2
PD5 USART2_TX USART2 NODMA
# TODO: DJI HDL?
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None

# ESC Telem (RX only)
PH13 UART4_TX UART4 NODMA
PH14 UART4_RX UART4
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
define DEFAULT_SERIAL5_BAUD 115
define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_WITH_ESC_TELEM 1

# RC Input
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN

# ADCs
PA0 SCALED1_V3V3 ADC1 SCALE(2)
PB1 VDD_5V_SENS ADC1 SCALE(2)
# 12V monitor
PA4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(7.66)

PB0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)

# Analog battery input scaling
# See STM32H743xx.py
define HAL_BATT_VOLT_PIN 9
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 21
define HAL_BATT_CURR_SCALE 120
define HAL_BATT_MONITOR_DEFAULT 4

# SPI1 - IIM42653 IMU
PA5 SPI1_SCK SPI1
PB5 SPI1_MOSI SPI1
PG9 SPI1_MISO SPI1
PI9 IMU1_CS CS
PF2 IMU1_DRDY INPUT

# SPI6 - external (SPI OSD or IMU)
PB3  SPI6_SCK SPI6
PA6  SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6
PI10 EXT1_CS CS
PD11 DRDY_ADIS16507 INPUT GPIO(93)

# GPIO(93) for data ready on ADIS16507
# define ADIS_DRDY_PIN 93

# Motors, see STM32H743xx.py
PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR
PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) BIDIR
PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR
PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) BIDIR
PI5  TIM8_CH1 TIM8 PWM(5) GPIO(54)
PI6  TIM8_CH2 TIM8 PWM(6) GPIO(55)
PI7  TIM8_CH3 TIM8 PWM(7) GPIO(56)
PI2  TIM8_CH4 TIM8 PWM(8) GPIO(57)
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)

# PWM output for buzzer
PF9 TIM14_CH1 TIM14 GPIO(77) ALARM

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# I2C1 (GPS1 compass, external)
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1

# I2C2 (BMP390 baro, internal)
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

# I2C4 (IIS2MDC compass, internal)
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C1 I2C2 I2C4
define HAL_I2C_INTERNAL_MASK 6

# IMU heater
PB10 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
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
# TODO: should we use this?
# define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5

# Armed indication
PE6 nARMED OUTPUT HIGH

# Power enable pins
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH

# 12V enable, start with it ON
PG4 VDD_5V_PERIPH_EN OUTPUT HIGH

# Power sensing
# 12V PGOOD
PE15 VDD_5V_PERIPH_nOC INPUT FLOATING
# 5V PGOOD
PF13 VDD_5V_HIPOWER_nOC INPUT FLOATING
# 5V_ON_BATn
PG1 VDD_BRICK_nVALID INPUT FLOATING

# LEDs
PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

# ID pins
PG0 HW_VER_REV_DRIVE OUTPUT LOW
PH4 HW_REV_SENS ADC3 SCALE(1)

# Barometer on i2c_2
BARO BMP388 I2C:1:0x76

# Compass
COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define AP_COMPASS_IIS2MDC_ENABLED 1

# IIM42653 IMU on SPI1
SPIDEV iim42653  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  8*MHZ
IMU Invensensev3 SPI:iim42653 ROTATION_YAW_270

# SPI6 external bus
# SPIDEV adis16507 SPI6 DEVID1  EXT1_CS MODE3  1*MHZ  2*MHZ
# IMU ADIS1647x    SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN

define HAL_DEFAULT_INS_FAST_SAMPLE 1

# Prioritze SD logging and IMU
DMA_PRIORITY SDMMC* SPI*

# Bidir DShot timers cannot share DMA
DMA_NOSHARE SPI* TIM5* TIM8*

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

# Setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport