ardupilot/libraries/AP_HAL_ChibiOS/hwdef/AIRLink/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for SmartAP AIRLink hardware

# MCU class and specific type
MCU STM32F7xx STM32F767xx

# crystal frequency
OSCILLATOR_HZ 16000000

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

# board ID for firmware load
APJ_BOARD_ID 55

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 UART8 USART3 OTG2

# default the 2nd interface to MAVLink2
define HAL_OTG1_PROTOCOL SerialProtocol_MAVLink2

# USB support
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# debugging support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

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

# SPI2 - MPU9250 FPC
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2

# SPI3 - MPU9250 Board
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PB2 SPI3_MOSI SPI3

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

# sensor CS
PI9  ICM20602_CS CS SPEED_VERYLOW
PH5  MPU_FPC_CS CS
PI8  MPU_BOARD_CS CS
PG7  FRAM_CS CS SPEED_VERYLOW
 
# I2C buses
PB8 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2
 
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3
 
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C3 I2C4 I2C1 I2C2
define HAL_I2C_INTERNAL_MASK 3

# enable sensors power pins
PI11 VDD_3V3_SENSORS_EN OUTPUT HIGH
PD15 VDD_3V3_SENSORS2_EN OUTPUT HIGH
PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH

# 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

# drdy pins
PF2  DRDY4_ICM20602 INPUT
PH12 MPU_FPC_DRDY INPUT
PI6 MPU_BOARD_DRDY INPUT

# UART for IOMCU
IOMCU_UART USART6

# UARTs

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

# USART1 is GPS1
PB15 USART1_RX USART1 NODMA
PB14 USART1_TX USART1 NODMA

# USART3 is debug
PD9 USART3_RX USART3 NODMA
PD8 USART3_TX USART3 NODMA
#PD11 USART3_CTS USART3
#PD12 USART3_RTS USART3

# UART4 is ext
PH14 UART4_RX UART4 NODMA
PH13 UART4_TX UART4 NODMA

# UART5 is telem2
PD2 UART5_RX UART5
PB9 UART5_TX UART5

# USART6 for IOMCU
PC7 USART6_RX USART6
PC6 USART6_TX USART6

# UART7 is telem1
PF6 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# UART8 is for gps2
PE0 UART8_RX UART8 NODMA
PE1 UART8_TX UART8 NODMA

# 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)
# we need to disable DMA on the last 2 FMU channels
# as timer 12 doesn't have a TIMn_UP DMA option
PH6  TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
PH9  TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
 
# PWM output for buzzer
PF9 TIM14_CH1 TIM14 GPIO(77) ALARM

# analog in
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC0 BATT_CURRENT_SENS ADC1 SCALE(1)

PB0 RSSI_IN ADC1 SCALE(1)
 
#PF5 HW_REV_SENS ADC3 SCALE(1)
#PF4 HW_VER_SENS ADC3 SCALE(1)

PB1 VDD_5V_SENS ADC1 SCALE(2)
PA0 SCALED_V3V3 ADC1 SCALE(2)

undef HAL_HAVE_BOARD_VOLTAGE
undef HAL_HAVE_SAFETY_SWITCH 0

# setup scaling defaults for power brick
define HAL_BATT_VOLT_SCALE 18.0
define HAL_BATT_CURR_SCALE 24.0
define HAL_BATT_VOLT_PIN 0
define HAL_BATT_CURR_PIN 1

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
 
PB12 CAN2_RX CAN2
PB6  CAN2_TX CAN2

# GPIOs
PB10 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80

# heater is on when pulled low
define HAL_HEATER_GPIO_ON 0

# SPI devices
SPIDEV icm20602         SPI1 DEVID1  ICM20602_CS  MODE3  2*MHZ  8*MHZ
SPIDEV mpu9250_fpc      SPI2 DEVID1  MPU_FPC_CS   MODE3  4*MHZ  8*MHZ
SPIDEV mpu9250_board    SPI3 DEVID1  MPU_BOARD_CS MODE3  4*MHZ  8*MHZ
SPIDEV ramtron          SPI5 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 
 
# up to 3 IMUs
IMU Invensense SPI:icm20602 ROTATION_YAW_270
IMU Invensense SPI:mpu9250_fpc ROTATION_YAW_180
IMU Invensense SPI:mpu9250_board ROTATION_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 7

BARO MS56XX I2C:0:0x77
BARO BMP388 I2C:1:0x76

COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270

# also problem all external compass types
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# microSD support
PG9 SDMMC2_D0 SDMMC2
PG10 SDMMC2_D1 SDMMC2
PG11 SDMMC2_D2 SDMMC2
PG12 SDMMC2_D3 SDMMC2
PD6 SDMMC2_CK SDMMC2
PD7 SDMMC2_CMD SDMMC2
 
# red LED marked as B/E
PE5 LED_RED OUTPUT OPENDRAIN GPIO(90)

# green LED marked as PWR. We leave this solid on, but allow
# for it to be controlled as a relay if needed
PE4 LED_GREEN OUTPUT GPIO(91) LOW

# blue LED marked as ACT
PE3 LED_BLUE OUTPUT GPIO(92) HIGH

# setup for BoardLED2
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 92
define HAL_GPIO_LED_ON 0
  
# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1
 
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 
DMA_PRIORITY SDMMC* USART6* ADC* SPI* TIM*

# we can't share IO UART (USART6)
DMA_NOSHARE USART6_TX USART6_RX ADC1
DMA_PRIORITY USART6* UART5_RX

define FATFS_HAL_DEVICE SDCD2

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

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

ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin