ardupilot/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for JHEH743_HD hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1411

# 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

STM32_ST_USE_TIMER 2

# 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
PB2 SPI3_MOSI SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3

# SPI4
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4

# Chip select pins
PA15 FLASH1_CS CS
PB12 OSD1_CS CS
PA4 GYRO1_CS CS
PE11 GYRO2_CS CS

# Beeper
PE3 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80

# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1
PA10 USART1_RX USART1
PA9 USART1_TX USART1

# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN

# USART3
PD8 USART3_TX USART3
PD9 USART3_RX USART3
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None

# UART4
PD0 UART4_RX UART4
PD1 UART4_TX UART4
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS

# UART5
PC12 UART5_TX UART5 NODMA
PD2 UART5_RX UART5 NODMA

# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort

# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry

# UART8
PE0 UART8_RX UART8 NODMA
PE1 UART8_TX UART8 NODMA

# I2C ports
I2C_ORDER I2C1 I2C2
# I2C1
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# Servos

# ADC ports

# ADC1
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 11
define HAL_BATT_VOLT_SCALE 11.0
PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 13
define HAL_BATT_CURR_SCALE 58.8
define HAL_BATT_MONITOR_DEFAULT 4

# MOTORS
PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1
PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)       # M2
PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3
PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)       # M4
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR # M5
PB1 TIM3_CH4 TIM3 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

define AP_NOTIFY_GPIO_LED_2_ENABLED 1
PE5 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90

PE4 LED1 OUTPUT LOW GPIO(91)
define HAL_GPIO_B_LED_PIN 91

# Dataflash setup
SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25NXX
define HAL_LOGGING_DATAFLASH_ENABLED 1

# OSD setup
SPIDEV osd SPI2 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 icm42688p   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
IMU Invensensev3 SPI:icm42688p ROTATION_PITCH_180

SPIDEV icm42688p2   SPI4 DEVID2 GYRO2_CS   MODE3   1*MHZ   8*MHZ
IMU Invensensev3 SPI:icm42688p2 ROTATION_ROLL_180

DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*

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