ardupilot/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for FOXEERH743V1 hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1089

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000
MCU_CLOCKRATE_MHZ 480

FLASH_SIZE_KB 2048

# bootloader takes first sector
FLASH_RESERVE_START_KB 384

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1

# SPI devices

# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# Chip select pins
PA15 FLASH1_CS CS
PA4 OSD1_CS CS
PB12 GYRO1_CS CS

# Beeper
PD2 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80

# USART4 can also support PPM
PA1 TIM2_CH2 TIM2 RCININT PULLDOWN LOW ALT(1)

# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1 (RX/SBUS)
PA10 USART1_RX USART1
PA9 USART1_TX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN


# USART2 (VTX)
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_Tramp


# USART3
PB10 USART3_TX USART3
PB11 USART3_RX USART3
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None


# UART4 (DJI RX/SBUS)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN

# USART6 (GPS)
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define HAL_SERIAL6_PROTOCOL SerialProtocol_GPS
define HAL_SERIAL6_BAUD 115


# UART7 (DJI OSD)
PE7 UART7_RX UART7
PE8 UART7_TX UART7
define HAL_SERIAL7_PROTOCOL SerialProtocol_DJI_FPV
define HAL_SERIAL7_BAUD 115

# UART8 (ESC)
PE0 UART8_RX UART8 NODMA
PE1 UART8_TX UART8 NODMA
define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
define DEFAULT_SERIAL8_BAUD 115

# I2C ports
I2C_ORDER I2C1
# I2C1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# Servos
PE5 SERVO1 OUTPUT GPIO(70) LOW
define RELAY2_PIN_DEFAULT 70
PE6 SERVO2 OUTPUT GPIO(71) LOW
define RELAY3_PIN_DEFAULT 71
PB3 CAMERA1 OUTPUT GPIO(72) LOW
define RELAY4_PIN_DEFAULT 72

# ADC ports

# ADC1
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 12
define HAL_BATT_CURR_SCALE 35.4
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_VOLT_SCALE 11.0
define HAL_BATT_MONITOR_DEFAULT 4

# MOTORS
PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # M1
PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51)       # M2
PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) BIDIR # M3
PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53)       # M4
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR # M5
PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)       # M6
PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR # M7
PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)       # M8

# LEDs
PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9

PC13 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_LED_OFF 1

# Dataflash setup
SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ

define HAL_LOGGING_DATAFLASH_ENABLED 1

# OSD setup
SPIDEV osd SPI1 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# Barometer setup
BARO DPS310 I2C:0:0x76

# IMU setup

# IMU setup
SPIDEV imu1   SPI2 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
IMU Invensense SPI:imu1 ROTATION_YAW_270
DMA_NOSHARE TIM3_UP TIM4_UP TIM8_UP SPI2*
DMA_PRIORITY TIM3_UP TIM4_UP TIM8_UP SPI2*

# 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 1
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12