# hw definition file for processing by chibios_pins.py
# for SkystarsH7HD

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1075

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 2048

env OPTIMIZE -O2

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# leave 1 sectors free
FLASH_RESERVE_START_KB 128

# use last 2 pages for flash storage
# H743 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14
define HAL_STORAGE_SIZE 32768

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8

# buzzer
PB3 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0
define HAL_PWM_ALT_ALARM

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for BMI270 (Gyro 1)
PC15 BMI270_CS1 CS
PA5  SPI1_SCK SPI1
PA6  SPI1_MISO SPI1
PD7  SPI1_MOSI SPI1
PB2  BMI270_INT1 INPUT

# SPI2 for AT7456E OSD
PB12 AT7456E_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI3 for W25Q128 dataflash
PA15 FLASH_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# SPI4 for BMI270 (Gyro 2)
PE11 BMI270_CS2 CS
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4
PE15 BMI270_INT2 INPUT

DMA_PRIORITY TIM1* TIM4* TIM3* TIM2* SPI1* SPI4*
DMA_NOSHARE SPI1_RX SPI2_TX SPI4_RX USART6_RX

# spi devices
SPIDEV bmi270_1  SPI1 DEVID1 BMI270_CS1 MODE3  1*MHZ  10*MHZ
SPIDEV osd       SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
SPIDEV dataflash SPI3 DEVID3 FLASH_CS   MODE3 32*MHZ 32*MHZ
SPIDEV bmi270_2  SPI4 DEVID4 BMI270_CS2 MODE3  1*MHZ  10*MHZ

# one I2C bus
I2C_ORDER I2C2 I2C1

# I2C1 - external
PB8  I2C1_SCL I2C1
PB9  I2C1_SDA I2C1

# I2C2 - internal Baro
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

# VTX Power control - should be high at startup to ensure power
PC5 VTX_PWR OUTPUT LOW GPIO(81)     # labelled as "Pit-1"
PC2 VID_SELECT OUTPUT LOW GPIO(82)  # labelled as "PIN-EN"
PD2 CAM_C OUTPUT LOW GPIO(83)       # labelled as "CAM-C"


# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT2_VOLT_PIN 10
define HAL_BATT2_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 11.1
define HAL_BATT_CURR_SCALE 59.5
define HAL_BATT2_VOLT_SCALE 11.1
define HAL_BATT2_CURR_SCALE 59.5

PC3 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 13

PE3 LED0 OUTPUT LOW GPIO(90) # red, labelled as LED1
PE4 LED1 OUTPUT LOW GPIO(91) # blue, labelled as LED2
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 91
define HAL_GPIO_LED_OFF 1

# USART1
PA9  USART1_TX USART1
PA10 USART1_RX USART1

# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# UART4
PD0 UART4_RX UART4
PD1 UART4_TX UART4

# UART5
PB5 UART5_RX UART5
PB6 UART5_TX UART5

# USART6 (RX / SBUS)
# as an alternative config setup the RX6 pin as a uart. This allows
# for bi-directional UART based receiver protocols such as FPort
# without any extra hardware
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA ALT(1)

# UART7
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# UART8
PE0 UART8_RX UART8
PE1 UART8_TX UART8

define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
define HAL_SERIAL6_BAUD 115

# Motors
PB0  TIM1_CH2N TIM1 PWM(1) GPIO(50)
PB1  TIM1_CH3N TIM1 PWM(2) GPIO(51)
PD12 TIM4_CH1  TIM4 PWM(3) GPIO(52)
PD13 TIM4_CH2  TIM4 PWM(4) GPIO(53)
PA0  TIM2_CH1  TIM2 PWM(5) GPIO(54)
PA1  TIM2_CH2  TIM2 PWM(6) GPIO(55)
PA2  TIM2_CH3  TIM2 PWM(7) GPIO(56)
PA3  TIM2_CH4  TIM2 PWM(8) GPIO(57)

# LED strip WS2812 / Neopixel
PA8  TIM1_CH1  TIM1 PWM(9) GPIO(58)

# RC input defaults to timer capture
PC7  TIM3_CH2 TIM3 RCININT PULLDOWN LOW

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0

# two IMU
IMU BMI270 SPI:bmi270_1 ROTATION_ROLL_180_YAW_90
IMU BMI270 SPI:bmi270_2 ROTATION_ROLL_180

# one BARO
BARO BMP280 I2C:0:0x76

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

define STM32_PWM_USE_ADVANCED TRUE
