# hw definition file for processing by chibios_hwdef.py # for Modal AI FC v1 # MCU class and specific type. It is a F765, which is the same as F767 # but without the TFT interface MCU STM32F7xx STM32F767xx # crystal frequency OSCILLATOR_HZ 16000000 # board ID for firmware load APJ_BOARD_ID 41775 # default to all pins low to avoid ESD issues DEFAULTGPIO OUTPUT LOW PULLDOWN 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 UART4 USART2 USART6 USART3 OTG2 # default the 2nd interface to MAVLink2 define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 # now we define the pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA9 VBUS INPUT # these are the pins for SWD debugging with a STlinkv2 or black-magic probe PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 - ICM20602 PA5 SPI1_SCK SPI1 PB4 SPI1_MISO SPI1 PB5 SPI1_MOSI SPI1 # SPI2 - ICM42688 PI1 SPI2_SCK SPI2 PI2 SPI2_MISO SPI2 PI3 SPI2_MOSI SPI2 # SPI5 - FRAM PF7 SPI5_SCK SPI5 PF8 SPI5_MISO SPI5 PF11 SPI5_MOSI SPI5 # SPI6 - BMI088 6DoF, disabled due to lack of DMA channels #PB3 SPI6_SCK SPI6 #PA6 SPI6_MISO SPI6 #PG14 SPI6_MOSI SPI6 # sensor CS PI9 ICM20602_CS CS PH5 ICM42688_CS CS PA15 BMI088_G_CS CS PI10 BMI088_A_CS CS PG7 FRAM_CS CS SPEED_VERYLOW # fsync pins PA0 IMU_2_FSYNC INPUT FLOATING PA1 IMU_3_FSYNC INPUT FLOATING # interrupt pins PF2 IMU_1_DRDY INPUT PULLDOWN PH12 IMU_2_DRDY INPUT PULLDOWN PG5 BARO_INT INPUT PULLDOWN PF3 SPARE_INT INPUT PULLDOWN PI6 IMU_3_ACCEL_INT INPUT PULLDOWN PI7 IMU_3_GYRO_INT INPUT PULLDOWN # LSE crystal, unused PC14 LSE1 INPUT FLOATING PC15 LSE2 INPUT FLOATING # HWID pins, unused PA4 HWID_DAC1 INPUT FLOATING PF4 HW_VER_SENS INPUT FLOATING PF5 HW_REV_SENS INPUT FLOATING PG0 HW_VR_DRIVE INPUT FLOATING # security module, A71CH PH3 SEC_RESET INPUT PULLDOWN # I2C buses # I2C1, EXT_GPS_I2C PB8 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # I2C2, DISPLAY_I2C PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 # I2C3, EXP_I2C PH7 I2C3_SCL I2C3 PH8 I2C3_SDA I2C3 # I2C4, BMP388 BARO AND A71CH SEC MODULE (0x49) PF14 I2C4_SCL I2C4 PF15 I2C4_SDA I2C4 # order of I2C buses I2C_ORDER I2C4 I2C3 I2C2 I2C1 define HAL_I2C_INTERNAL_MASK 1 # GPIOs PE3 EXC_GPIO_25 INPUT FLOATING GPIO(110) # PE4 EXC_GPIO_26 INPUT FLOATING GPIO(111) # allow to have have a dedicated safety switch pin # on PE4 PE4 SAFETY_IN INPUT PULLDOWN define HAL_HAVE_SAFETY_SWITCH 1 define BOARD_SAFETY_ENABLE_DEFAULT 0 # 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 #PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH #PG5 VDD_5V_RC_EN OUTPUT HIGH #PG6 VDD_5V_WIFI_EN OUTPUT HIGH PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH # UARTs # USART1 is EXT_GPS PB15 USART1_RX USART1 NODMA PB14 USART1_TX USART1 # USART2 is telem3, MSS_SPARE_4W PA3 USART2_RX USART2 NODMA PD5 USART2_TX USART2 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 # USART3, UART_2W_DEBUG PD9 USART3_RX USART3 NODMA PD8 USART3_TX USART3 # UART4 GPS2, EXP_UART_2W PH14 UART4_RX UART4 NODMA PH13 UART4_TX UART4 # UART5 Telem 2, MSS_UART_4W PD2 UART5_RX UART5 PB9 UART5_TX UART5 PC8 UART5_RTS UART5 PC9 UART5_CTS UART5 # USART6, spektrum PC7 USART6_RX USART6 NODMA GPIO(74) PC6 USART6_TX USART6 # RC input. Support all serial protocols on both PPM and spektrum # ports. PPM protocol also supported on the PPM port PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW # setup for spektrum satellite bind define HAL_GPIO_SPEKTRUM_RC 74 PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) define HAL_GPIO_SPEKTRUM_PWR 73 define HAL_SPEKTRUM_PWR_ENABLED 1 # setup for RCIN on USUART6, will auto-baud for 100000 and 115200 and # auto-switch inversion as needed define HAL_SERIAL6_PROTOCOL 23 define HAL_SERIAL6_BAUD 115200 # UART7 Telem 1, TELEM_UART_4W PE7 UART7_RX UART7 PE8 UART7_TX UART7 PE9 UART7_RTS UART7 PE10 UART7_CTS UART7 # 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) PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # PWM output for buzzer #PE5 TIM9_CH1 TIM9 GPIO(77) ALARM define HAL_USE_ADC FALSE define HAL_DISABLE_ADC_DRIVER TRUE # INA231 battery monitor define HAL_BATTMON_INA2XX_BUS 1 define HAL_BATTMON_INA2XX_ADDR 0 define HAL_BATT_MONITOR_DEFAULT 21 # on some units a LTC2946 is used define HAL_BATTMON_LTC2946_BUS 1 define HAL_BATTMON_LTC2946_ADDR 0x6a PC0 VDD_5V_SENS ADC1 SCALE(2) # ADC pin 10 PC1 SCALED_V3V3 ADC1 SCALE(2) define ANALOG_VCC_5V_PIN 10 # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW #PHI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) # SPI devices SPIDEV icm42688 SPI2 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # SPI6 disabled due to lack of DMA channels #SPIDEV bmi088_g SPI6 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ #SPIDEV bmi088_a SPI6 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ # two IMUs enabled IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180 IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90 #IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 3 # one baro on I2C4 BARO BMP388 I2C:0:0x76 # microSD support on SDMMC2 PG9 SDMMC2_D0 SDMMC2 PG10 SDMMC2_D1 SDMMC2 PG11 SDMMC2_D2 SDMMC2 PG12 SDMMC2_D3 SDMMC2 PD6 SDMMC2_CK SDMMC2 PD7 SDMMC2_CMD SDMMC2 define FATFS_HAL_DEVICE SDCD2 define HAL_OS_FATFS_IO 1 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" # red LED PB0 LED_RED OUTPUT OPENDRAIN GPIO(90) PB1 LED_GREEN OUTPUT OPENDRAIN GPIO(91) PA7 LED_BLUE OUTPUT OPENDRAIN GPIO(92) # 2nd bank of LEDs PI0 LED_RED_2 OUTPUT OPENDRAIN LOW GPIO(93) PA2 LED_BLUE_2 OUTPUT OPENDRAIN LOW GPIO(94) PH11 LED_GREEN_2 OUTPUT OPENDRAIN LOW GPIO(95) # setup for BoardLED2 define HAL_GPIO_A_LED_PIN 90 define HAL_GPIO_B_LED_PIN 92 define HAL_GPIO_C_LED_PIN 91 define HAL_GPIO_LED_ON 0 # enable RAMTROM parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_COMPASS_AUTO_ROT_DEFAULT 2 DMA_PRIORITY SDMMC* ADC* SPI* TIM* UART*