ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for the HolybroV6X hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# ChibiOS system timer
STM32_ST_USE_TIMER 2

# board ID for firmware load
APJ_BOARD_ID 53

# enable board sub-type detection for FMUV6
define HAL_CHIBIOS_ARCH_FMUV6 1
define AP_FEATURE_BOARD_DETECT 1

FLASH_RESERVE_START_KB 128

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

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -O2

# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2

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

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN

# pins for SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# telem1
PE8 UART7_TX UART7
PF6 UART7_RX UART7
PF8 UART7_RTS UART7
PE10 UART7_CTS UART7

# telem2
PC8 UART5_RTS UART5
PC9 UART5_CTS UART5
PC12 UART5_TX UART5
PD2 UART5_RX UART5

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

# GPS1
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# GPS2
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# uart4
PH13 UART4_TX UART4
PH14 UART4_RX UART4

# debug uart
PD8 USART3_TX USART3
PD9 USART3_RX USART3

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

# uart6, RX only, RC input, if no IOMCU
# PC7 USART6_RX USART6

PC1 ETH_MDC              ETH1
PA2 ETH_MDIO             ETH1
PC4 ETH_RMII_RXD0        ETH1
PC5 ETH_RMII_RXD1        ETH1
PG13 ETH_RMII_TXD0       ETH1
PG12 ETH_RMII_TXD1       ETH1
PB11 ETH_RMII_TX_EN      ETH1
PA7 ETH_RMII_CRS_DV      ETH1
PA1 ETH_RMII_REF_CLK     ETH1
#PG15 ETH_POWER_EN       ETH1

PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet

define BOARD_PHY_ID  MII_LAN8742A_ID
define BOARD_PHY_RMII


# ADC
PA0 SCALED1_V3V3 ADC1 SCALE(2)
PA4 SCALED2_V3V3 ADC1 SCALE(2)
PB0 SCALED3_V3V3 ADC1 SCALE(2)
PF12 SCALED4_V3V3 ADC1 SCALE(2)

PB1 VDD_5V_SENS  ADC1 SCALE(2)

# pin7 on AD&IO, analog 12
PC2 ADC1_6V6 ADC1 SCALE(2)

# pin6 on AD&IO, analog 13
PC3 ADC1_3V3 ADC1 SCALE(1)

# SPI1 - IMU1
PA5 SPI1_SCK SPI1
PB5 SPI1_MOSI SPI1
PG9 SPI1_MISO SPI1
PI9 SP1_CS1 CS

# SPI2 - ICM42688
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2
PH5 SP2_CS1 CS
PA10 SP2_DRDY2 INPUT

# SPI3 - BMI088
PB2  SPI3_MOSI SPI3
PC10 SPI3_SCK  SPI3
PC11 SPI3_MISO SPI3
PI4 SP3_CS1 CS
PI8 SP3_CS2 CS
PI6 SP3_DRDY1 INPUT
PI7 SP3_DRDY2 INPUT GPIO(93)
define SP3_DRDY2 93

# SPI4 - unused
#PE12 SPI4_SCK SPI4
#PE13 SPI4_MISO SPI4
#PE14 SPI4_MOSI SPI4
#PF3  SP4_DRDY1 INPUT
PH15 SP4_CS1 CS

# SPI5 - FRAM
PF7  SPI5_SCK  SPI5
PH7  SPI5_MISO SPI5
PF11 SPI5_MOSI SPI5
PG7  FRAM_CS CS

# SPI6 - external1 (disabled to save DMA channels)
# PB3  SPI6_SCK SPI6
# PA6  SPI6_MISO SPI6
# PG14 SPI6_MOSI SPI6
# PI10   EXT1_CS CS

# PWM output pins
PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50)
PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
PH10 TIM5_CH1 TIM5 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

# GPIOs
PE11 FMU_CAP1 INPUT GPIO(58)
PC0 NFC_GPIO INPUT GPIO(60)


# CAN bus
PD0  CAN1_RX CAN1
PD1  CAN1_TX CAN1

PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2


# I2C buses

# I2C1, GPS+MAG
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1

# I2C2, GPS2+MAG
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2
PG5 DRDY1_BMP388 INPUT

# I2C3, MS5611, external
PA8 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

# I2C4 internal
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C4 I2C1 I2C2 I2C3
define HAL_I2C_INTERNAL_MASK 1

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

# 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

# armed indication
PE6 nARMED OUTPUT HIGH

# power enable pins
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
PF4  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
PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
PG4  nVDD_5V_PERIPH_EN  OUTPUT HIGH

# Control of Spektrum power pin
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
define HAL_GPIO_SPEKTRUM_PWR 73

# Spektrum Power is Active High
define HAL_SPEKTRUM_PWR_ENABLED 1

# power sensing
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP

PG1 VDD_BRICK_nVALID INPUT PULLUP
PG2 VDD_BRICK2_nVALID INPUT PULLUP
PG3 VDD_BRICK3_nVALID INPUT PULLUP

# microSD support
PD6  SDMMC2_CK SDMMC2
PD7  SDMMC2_CMD SDMMC2
PB14 SDMMC2_D0 SDMMC2
PB15 SDMMC2_D1 SDMMC2
PG11 SDMMC2_D2 SDMMC2
PB4  SDMMC2_D3 SDMMC2
define FATFS_HAL_DEVICE SDCD2

# safety
PD10 LED_SAFETY OUTPUT
PF5 SAFETY_IN INPUT PULLDOWN

# 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

# setup for "pixracer" RGB LEDs
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 91
define HAL_GPIO_C_LED_PIN 92
define HAL_GPIO_LED_ON 0

define HAL_HAVE_PIXRACER_LED

# ID pins
PG0 HW_VER_REV_DRIVE OUTPUT LOW
# PH3 HW_VER_SENS ADC3 SCALE(1)
# PH4 HW_REV_SENS ADC3 SCALE(1)

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

# RC input
PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW

# barometers (Holybro 6X)
BARO BMP388 I2C:2:0x76
BARO BMP388 I2C:0:0x77

# barometers (CUAV 6X)
BARO ICP201XX I2C:0:0x64
BARO ICP201XX I2C:2:0x63

# compass
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# builtin compass on Holybro 6X
COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE

# builtin compass on CUAV 6X
COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180

# compensate for magnetic field generated by the heater on CUAV-6X RM3100
define HAL_HEATER_MAG_OFFSET_RM3100 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(-19,37,-24)

# compensate for magnetic field generated by the heater on Holybro6X BMM150
define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x10,0x05),Vector3f(12,-38,23)

define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150}

# IMU devices for Holybro6X
SPIDEV bmi088_g SPI3 DEVID1  SP3_CS2  MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI3 DEVID2  SP3_CS1  MODE3 10*MHZ 10*MHZ
# alternative to bmi088
SPIDEV icm20649  SPI3 DEVID1  SP3_CS1 MODE3  10*MHZ 10*MHZ
SPIDEV icm42688  SPI2 DEVID1  SP2_CS1 MODE3  2*MHZ  8*MHZ
SPIDEV icm42670  SPI1 DEVID1  SP1_CS1 MODE3  2*MHZ  8*MHZ

# IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and
# ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS
# pins as the Holybro board, but the orientation of the BMI088 is
# different. The ICM20649 is on a different bus
SPIDEV icm20649_2 SPI1 DEVID1  SP1_CS1     MODE3  2*MHZ  8*MHZ

SPIDEV ramtron   SPI5 DEVID1  FRAM_CS     MODE3  8*MHZ  8*MHZ

# IMU devices for Holybro6X-Rev6
SPIDEV adis16470 SPI3 DEVID1 SP3_CS1 MODE3 1*MHZ 2*MHZ
SPIDEV iim42652  SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686  SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ

# IMU devices for Holybro6X-45686 version
SPIDEV icm45686-3 SPI3 DEVID1 SP3_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686-2 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686-1 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ

# Holybro6X 3 IMUs
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180          BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088
IMU Invensensev3 SPI:icm42670 ROTATION_YAW_90           BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)

# CUAV-6X 3 IMUs
IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180       BOARD_MATCH(FMUV6_BOARD_CUAV_6X)

# Holybro6X-Rev6 3 IMUs
IMU ADIS1647x    SPI:adis16470 ROTATION_ROLL_180 SP3_DRDY2 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
IMU Invensensev3 SPI:iim42652  ROTATION_ROLL_180_YAW_270   BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
IMU Invensensev3 SPI:icm45686  ROTATION_YAW_90             BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)

# Holybro6X-45686 3 IMUs, the ones on SPI-2 and SPI-3 are isolated
IMU Invensensev3 SPI:icm45686-2  ROTATION_ROLL_180  BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU Invensensev3 SPI:icm45686-3  ROTATION_ROLL_180  BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU Invensensev3 SPI:icm45686-1  ROTATION_YAW_90    BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)

define HAL_DEFAULT_INS_FAST_SAMPLE 7

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1

# INA226 battery monitor
define HAL_BATTMON_INA2XX_BUS 1
define HAL_BATTMON_INA2XX_ADDR 0
define HAL_BATT_MONITOR_DEFAULT 21

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

DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*

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

ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin

# enable DFU reboot for installing bootloader
# note that if firmware is build with --secure-bl then DFU is
# disabled
ENABLE_DFU_BOOT 1

# build ABIN for flash-from-bootloader support:
env BUILD_ABIN True

# enable support for dshot on iomcu
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
define HAL_WITH_IO_MCU_BIDIR_DSHOT 1