# hw definition file for processing by chibios_pins.py
# for Diatone MambaH743 mk4 hardware.

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1073

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

MCU_CLOCKRATE_MHZ 480

FLASH_SIZE_KB 2048

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# leave 1 sectors free
FLASH_RESERVE_START_KB 384

# use last 2 pages for flash storage
# H743 has 16 pages of 128k each
STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 32768

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# one I2C bus
I2C_ORDER I2C1 I2C2

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

# buzzer
PE3 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

# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for BMI270 / MPU6000
PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 for MAX7456 OSD
PB12 MAX7456_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI3 for flash
PA15 FLASH_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PB2  SPI3_MOSI SPI3

# SPI4 for MPU6000_2
PE11 MPU6000_2_CS CS
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4

# I2C1 for baro
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2 for baro
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC3 BATT_CURRENT_SENS ADC1 SCALE(1)

# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 11
define HAL_BATT_CURR_PIN 13
define HAL_BATT_VOLT_SCALE 11.1
define HAL_BATT_CURR_SCALE 64

PC2 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 12

PE5 LED0 OUTPUT LOW GPIO(90) # blue
PE4 LED1 OUTPUT LOW GPIO(91) # orange
define HAL_GPIO_A_LED_PIN 91
define HAL_GPIO_B_LED_PIN 90
define HAL_GPIO_LED_OFF 1

# USART1 (RX / SBUS)
PA9  USART1_TX USART1
PA10 USART1_RX USART1

# USART2
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2 NODMA

# USART3 (VTX)
PD8 USART3_TX USART3 NODMA
PD9 USART3_RX USART3 NODMA

# UART4 (GPS)
PD1 UART4_TX UART4
PD0 UART4_RX UART4

# UART5 (SPORT)
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA

# USART6 (ESC Telemetry)
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA

# UART7 (GPS)
PE8 UART7_TX UART7
PE7 UART7_RX UART7

PE1 UART8_TX UART8 NODMA
PE0 UART8_RX UART8 NODMA

define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
define HAL_SERIAL1_BAUD 115
define HAL_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
define HAL_SERIAL6_BAUD 115

# Motors
PA0  TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
PA1  TIM5_CH2 TIM5 PWM(2) GPIO(51)
PA2  TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
PA3  TIM5_CH4 TIM5 PWM(4) GPIO(53)
PB0  TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR
PB1  TIM3_CH4 TIM3 PWM(6) GPIO(55)
PC8  TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
PC9  TIM8_CH4 TIM8 PWM(8) GPIO(57)

# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12

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

DMA_NOSHARE SPI3* SPI1*

# spi devices
SPIDEV mpu6000   SPI1 DEVID1 MPU6000_CS   MODE3   1*MHZ   4*MHZ
SPIDEV bmi270    SPI1 DEVID2 MPU6000_CS   MODE3   1*MHZ  10*MHZ # Clock is 100Mhz so highest clock <= 10Mhz is 100Mhz/16
SPIDEV mpu6000_2 SPI4 DEVID4 MPU6000_2_CS MODE3   1*MHZ   4*MHZ
SPIDEV dataflash SPI3 DEVID1 FLASH_CS     MODE3 104*MHZ 104*MHZ
SPIDEV osd       SPI2 DEVID4 MAX7456_CS   MODE0  10*MHZ  10*MHZ

# 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
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define HAL_DEFAULT_INS_FAST_SAMPLE 3

# Two MPU6000s or one BMI270
IMU Invensense SPI:mpu6000 ROTATION_YAW_90
IMU Invensense SPI:mpu6000_2 ROTATION_YAW_180
IMU BMI270 SPI:bmi270 ROTATION_PITCH_180

define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV

# one BARO
BARO DPS280 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
