diff --git a/conf_general.h b/conf_general.h
index 24d063b3..17e931b9 100755
--- a/conf_general.h
+++ b/conf_general.h
@@ -184,6 +184,8 @@
//#define HW_SOURCE "hw_ubox_single.c"
//#define HW_HEADER "hw_ubox_single.h"
+//#define HW_SOURCE "hw_60v2_alva.c"
+//#define HW_HEADER "hw_60v2_alva.h"
#endif
#ifndef HW_SOURCE
diff --git a/hwconf/hw_60v2_alva.c b/hwconf/hw_60v2_alva.c
new file mode 100644
index 00000000..d315b53a
--- /dev/null
+++ b/hwconf/hw_60v2_alva.c
@@ -0,0 +1,256 @@
+/*
+ Copyright 2021 Benjamin Vedder benjamin@vedder.se
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#include "hw.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+#include "utils.h"
+#include
+#include "mc_interface.h"
+
+// Variables
+static volatile bool i2c_running = false;
+
+// I2C configuration
+static const I2CConfig i2cfg = {
+ OPMODE_I2C,
+ 100000,
+ STD_DUTY_CYCLE
+};
+
+void hw_init_gpio(void) {
+ // GPIO clock enable
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
+
+ // LEDs
+ palSetPadMode(LED_GREEN_GPIO, LED_GREEN_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ palSetPadMode(LED_RED_GPIO, LED_RED_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ // GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
+ palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ // Hall sensors
+ palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
+
+ // Phase filters
+ palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ PHASE_FILTER_OFF();
+
+ // Current filter
+ palSetPadMode(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ CURRENT_FILTER_OFF();
+
+ // AUX pin
+ AUX_OFF();
+ palSetPadMode(AUX_GPIO, AUX_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ // Sensor port voltage
+ SENSOR_PORT_3V3();
+ palSetPadMode(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN,
+ PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
+
+ // ADC Pins
+ palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
+
+ palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
+
+ palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
+}
+
+void hw_setup_adc_channels(void) {
+ // ADC1 regular channels
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 6, ADC_SampleTime_15Cycles);
+
+ // ADC2 regular channels
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 6, ADC_SampleTime_15Cycles);
+
+ // ADC3 regular channels
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 6, ADC_SampleTime_15Cycles);
+
+ // Injected channels
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
+}
+
+void hw_start_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (!i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+ i2c_running = true;
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+void hw_stop_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
+
+ i2cStop(&HW_I2C_DEV);
+ i2c_running = false;
+
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+/**
+ * Try to restore the i2c bus
+ */
+void hw_try_restore_i2c(void) {
+ if (i2c_running) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ chThdSleep(1);
+
+ for(int i = 0;i < 16;i++) {
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ }
+
+ // Generate start then stop condition
+ palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+ chThdSleep(1);
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ HW_I2C_DEV.state = I2C_STOP;
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+
+ i2cReleaseBus(&HW_I2C_DEV);
+ }
+}
+
+float alva_temp_motor_max(float beta) {
+ float t1 = (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15);
+ float t2 = (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_S2]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15);
+ return fmaxf(t1, t2);
+}
diff --git a/hwconf/hw_60v2_alva.h b/hwconf/hw_60v2_alva.h
new file mode 100644
index 00000000..93a3f4eb
--- /dev/null
+++ b/hwconf/hw_60v2_alva.h
@@ -0,0 +1,297 @@
+/*
+ Copyright 2021 Benjamin Vedder benjamin@vedder.se
+
+ This file is part of the VESC firmware.
+
+ The VESC firmware is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ The VESC firmware is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#ifndef HW_60V2_ALVA_H_
+#define HW_60V2_ALVA_H_
+
+#define HW_NAME "ALVA60"
+
+#define ALVA_V0_PPM
+//#define ALVA_V0_ABI_ENC
+
+// HW properties
+#define HW_HAS_3_SHUNTS
+#define HW_HAS_PHASE_SHUNTS
+#define HW_HAS_PHASE_FILTERS
+
+// Macros
+#define LED_GREEN_GPIO GPIOB
+#define LED_GREEN_PIN 3
+#if defined(ALVA_V0_PPM) || defined(ALVA_V0_ABI_ENC)
+#define LED_RED_GPIO GPIOB
+#define LED_RED_PIN 7
+#else
+#define LED_RED_GPIO GPIOB
+#define LED_RED_PIN 4
+#endif
+
+#define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
+#define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
+#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
+#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
+
+#define PHASE_FILTER_GPIO GPIOC
+#define PHASE_FILTER_PIN 9
+#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+
+#define AUX_GPIO GPIOC
+#define AUX_PIN 12
+#define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN)
+#define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN)
+
+#define CURRENT_FILTER_GPIO GPIOD
+#define CURRENT_FILTER_PIN 2
+#define CURRENT_FILTER_ON() palSetPad(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN)
+#define CURRENT_FILTER_OFF() palClearPad(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN)
+
+// Sensor port voltage control
+#define SENSOR_VOLTAGE_GPIO GPIOA
+#define SENSOR_VOLTAGE_PIN 15
+#define SENSOR_PORT_5V() palClearPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
+#define SENSOR_PORT_3V3() palSetPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
+
+/*
+ * ADC Vector
+ *
+ * 0 (1): IN0 SENS1
+ * 1 (2): IN1 SENS2
+ * 2 (3): IN2 SENS3
+ * 3 (1): IN10 CURR1
+ * 4 (2): IN11 CURR2
+ * 5 (3): IN12 CURR3
+ * 6 (1): IN5 ADC_EXT1
+ * 7 (2): IN6 ADC_EXT2
+ * 8 (3): IN3 TEMP_MOS
+ * 9 (1): IN14 TEMP_MOTOR
+ * 10 (2): IN15 TEMP_MOTOR_S2
+ * 11 (3): IN13 AN_IN
+ * 12 (1): Vrefint
+ * 13 (2): IN0 SENS1
+ * 14 (3): IN1 SENS2
+ * 15 (1): IN8 TEMP_MOS_2
+ * 16 (2): IN9 TEMP_MOS_3
+ * 17 (3): IN3 TEMP_MOS
+ */
+
+#define HW_ADC_CHANNELS 18
+#define HW_ADC_INJ_CHANNELS 3
+#define HW_ADC_NBR_CONV 6
+
+// ADC Indexes
+#define ADC_IND_SENS1 0
+#define ADC_IND_SENS2 1
+#define ADC_IND_SENS3 2
+#define ADC_IND_CURR1 3
+#define ADC_IND_CURR2 4
+#define ADC_IND_CURR3 5
+#define ADC_IND_VIN_SENS 11
+#define ADC_IND_EXT 6
+#define ADC_IND_EXT2 7
+#define ADC_IND_TEMP_MOS 8
+#define ADC_IND_TEMP_MOTOR 9
+#define ADC_IND_TEMP_MOTOR_S2 10
+#define ADC_IND_VREFINT 12
+
+// ADC macros and settings
+
+// Component parameters (can be overridden)
+#ifndef V_REG
+#define V_REG 3.3
+#endif
+#ifndef VIN_R1
+#define VIN_R1 56000.0
+#endif
+#ifndef VIN_R2
+#define VIN_R2 2200.0
+#endif
+#ifndef CURRENT_AMP_GAIN
+#define CURRENT_AMP_GAIN 20.0
+#endif
+#ifndef CURRENT_SHUNT_RES
+#define CURRENT_SHUNT_RES 0.0005
+#endif
+
+// Input voltage
+#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
+
+// NTC Termistors
+#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
+#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
+
+#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
+#define NTC_TEMP_MOTOR(beta) alva_temp_motor_max(beta)
+
+// Voltage on ADC channel
+#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
+
+// COMM-port ADC GPIOs
+#define HW_ADC_EXT_GPIO GPIOA
+#define HW_ADC_EXT_PIN 5
+#define HW_ADC_EXT2_GPIO GPIOA
+#define HW_ADC_EXT2_PIN 6
+
+// UART Peripheral
+#define HW_UART_DEV SD3
+#define HW_UART_GPIO_AF GPIO_AF_USART3
+#define HW_UART_TX_PORT GPIOB
+#define HW_UART_TX_PIN 10
+#define HW_UART_RX_PORT GPIOB
+#define HW_UART_RX_PIN 11
+
+// ICU Peripheral for servo decoding
+#ifdef ALVA_V0_ABI_ENC
+#define HW_USE_SERVO_TIM4
+#define HW_ICU_TIMER TIM4
+#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
+#define HW_ICU_DEV ICUD4
+#define HW_ICU_CHANNEL ICU_CHANNEL_1
+#define HW_ICU_GPIO_AF GPIO_AF_TIM4
+#define HW_ICU_GPIO GPIOD
+#define HW_ICU_PIN 12
+#elif defined(ALVA_V0_PPM)
+#define HW_ICU_TIMER TIM3
+#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
+#define HW_ICU_DEV ICUD3
+#define HW_ICU_CHANNEL ICU_CHANNEL_1
+#define HW_ICU_GPIO_AF GPIO_AF_TIM3
+#define HW_ICU_GPIO GPIOB
+#define HW_ICU_PIN 4
+#else
+#define HW_USE_SERVO_TIM4
+#define HW_ICU_TIMER TIM4
+#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
+#define HW_ICU_DEV ICUD4
+#define HW_ICU_CHANNEL ICU_CHANNEL_2
+#define HW_ICU_GPIO_AF GPIO_AF_TIM4
+#define HW_ICU_GPIO GPIOB
+#define HW_ICU_PIN 7
+#endif
+
+// I2C Peripheral
+#define HW_I2C_DEV I2CD2
+#define HW_I2C_GPIO_AF GPIO_AF_I2C2
+#define HW_I2C_SCL_PORT GPIOB
+#define HW_I2C_SCL_PIN 10
+#define HW_I2C_SDA_PORT GPIOB
+#define HW_I2C_SDA_PIN 11
+
+// Hall/encoder pins
+#define HW_HALL_ENC_GPIO1 GPIOC
+#define HW_HALL_ENC_PIN1 6
+#define HW_HALL_ENC_GPIO2 GPIOC
+#define HW_HALL_ENC_PIN2 7
+#define HW_HALL_ENC_GPIO3 GPIOC
+#define HW_HALL_ENC_PIN3 8
+#define HW_ENC_TIM TIM3
+#define HW_ENC_TIM_AF GPIO_AF_TIM3
+#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
+#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
+#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
+#define HW_ENC_EXTI_CH EXTI9_5_IRQn
+#define HW_ENC_EXTI_LINE EXTI_Line8
+#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
+#define HW_ENC_TIM_ISR_CH TIM3_IRQn
+#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
+
+// The first version has the same timer for both the encoder and PPM input. This option disables
+// the encoder and enables PPM input.
+#ifdef ALVA_V0_PPM
+#undef HW_ENC_TIM
+#undef HW_ENC_TIM_AF
+#undef HW_ENC_TIM_CLK_EN
+#undef HW_ENC_TIM_ISR_CH
+#undef HW_ENC_TIM_ISR_VEC
+#define HW_ENC_TIM TIM4
+#define HW_ENC_TIM_AF GPIO_AF_TIM4
+#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
+#define HW_ENC_TIM_ISR_CH TIM4_IRQn
+#define HW_ENC_TIM_ISR_VEC TIM4_IRQHandler
+#endif
+
+// SPI pins
+#define HW_SPI_DEV SPID1
+#define HW_SPI_GPIO_AF GPIO_AF_SPI1
+#define HW_SPI_PORT_NSS GPIOA
+#define HW_SPI_PIN_NSS 4
+#define HW_SPI_PORT_SCK GPIOA
+#define HW_SPI_PIN_SCK 5
+#define HW_SPI_PORT_MOSI GPIOA
+#define HW_SPI_PIN_MOSI 7
+#define HW_SPI_PORT_MISO GPIOA
+#define HW_SPI_PIN_MISO 6
+
+// BMI160
+#define BMI160_SDA_GPIO GPIOC
+#define BMI160_SDA_PIN 11
+#define BMI160_SCL_GPIO GPIOC
+#define BMI160_SCL_PIN 10
+#define IMU_FLIP
+#define IMU_ROT_180
+
+// Second redundant CAN-port
+#define HW_CAN2_RX_PORT GPIOB
+#define HW_CAN2_RX_PIN 5
+#define HW_CAN2_TX_PORT GPIOB
+#define HW_CAN2_TX_PIN 6
+#define HW_CAN2_GPIO_AF GPIO_AF_CAN2
+#define HW_CAN2_DEV CAND2
+
+// Measurement macros
+#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
+#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
+#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
+#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
+
+// Macros
+#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
+#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
+#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
+
+// Override dead time
+#define HW_DEAD_TIME_NSEC 500.0
+
+// Default setting overrides
+#ifndef MCCONF_DEFAULT_MOTOR_TYPE
+#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
+#endif
+#ifndef MCCONF_FOC_F_ZV
+#define MCCONF_FOC_F_ZV 30000.0
+#endif
+#ifndef MCCONF_L_MAX_ABS_CURRENT
+#define MCCONF_L_MAX_ABS_CURRENT 150.0 // The maximum absolute current above which a fault is generated
+#endif
+#ifndef MCCONF_FOC_SAMPLE_V0_V7
+#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
+#endif
+
+// Setting limits
+#define HW_LIM_CURRENT -120.0, 120.0
+#define HW_LIM_CURRENT_IN -120.0, 120.0
+#define HW_LIM_CURRENT_ABS 0.0, 160.0
+#define HW_LIM_VIN 6.0, 57.0
+#define HW_LIM_ERPM -200e3, 200e3
+#define HW_LIM_DUTY_MIN 0.0, 0.1
+#define HW_LIM_DUTY_MAX 0.0, 0.99
+#define HW_LIM_TEMP_FET -40.0, 110.0
+
+// HW Functions
+float alva_temp_motor_max(float beta);
+
+#endif /* HW_60V2_ALVA_H_ */