# hw definition file for processing by chibios_hwdef.py # for the ARKV6X 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 57 # Enable all IMUs to be used and therefore three active EKF Lanes define HAL_EKF_IMU_MASK_DEFAULT 7 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) no IO MCU SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 USART6 OTG2 # order of UARTs (and USB) with IO MCU # 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 # Uncomment this line for carriers boards with an IO MCU # IOMCU_UART USART6 # Ethernet PB11 ETH_RMII_TX_EN ETH1 PG13 ETH_RMII_TXD0 ETH1 PG12 ETH_RMII_TXD1 ETH1 PC4 ETH_RMII_RXD0 ETH1 PC5 ETH_RMII_RXD1 ETH1 PA7 ETH_RMII_CRS_DV ETH1 PA1 ETH_RMII_REF_CLK ETH1 PC1 ETH_MDC ETH1 PA2 ETH_MDIO ETH1 PG15 GPIO_ETH_ENABLE OUTPUT HIGH GPIO(113) define HAL_GPIO_ETH_ENABLE 113 define BOARD_PHY_ID MII_LAN8742A_ID define BOARD_PHY_RMII define HAL_PERIPH_ENABLE_NETWORKING # 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 - IIM42652 PA5 SPI1_SCK SPI1 PB5 SPI1_MOSI SPI1 PG9 SPI1_MISO SPI1 PI9 IMU1_CS CS PF2 IMU1_DRDY INPUT # SPI2 - ICM42688 PI1 SPI2_SCK SPI2 PI2 SPI2_MISO SPI2 PI3 SPI2_MOSI SPI2 PH5 IMU2_CS CS PA10 IMU2_DRDY INPUT # SPI3 - ICM42688 PB2 SPI3_MOSI SPI3 PC10 SPI3_SCK SPI3 PC11 SPI3_MISO SPI3 PI4 IMU3_CS CS PI6 IMU3_DRDY INPUT # 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 #PD11 DRDY_ADIS16507 INPUT GPIO(93) # use GPIO(93) for data ready on ADIS16507 #define ADIS_DRDY_PIN 93 # 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 - No heater on Rev 1 # 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 BARO BMP388 I2C:0:0x76 # compass define HAL_PROBE_EXTERNAL_I2C_COMPASSES # builtin compass COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE # IMU devices for ARKV6X SPIDEV iim42652 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42688 SPI2 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42688_ext SPI3 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ #SPIDEV adis16507 SPI6 DEVID1 EXT1_CS MODE3 1*MHZ 2*MHZ SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # ARKV6X 3 IMUs IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_180_YAW_135 IMU Invensensev3 SPI:icm42688 ROTATION_YAW_45 IMU Invensensev3 SPI:icm42688_ext ROTATION_ROLL_180_YAW_270 #IMU ADIS1647x SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN 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_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 # bootloader embedding / bootloader flashing not available define AP_BOOTLOADER_FLASHING_ENABLED 0