ardupilot/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for H743 bootloader

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# USB setup
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
USB_PRODUCT 0x5001
USB_STRING_MANUFACTURER "CubePilot"

# setup build for a peripheral firmware
env AP_PERIPH 1
env AP_PERIPH_HEAVY 1

# crystal frequency
OSCILLATOR_HZ 24000000

# board ID for firmware load
APJ_BOARD_ID 1037

FLASH_SIZE_KB 2048

# the location where the bootloader will put the firmware
# the H743 has 128k sectors, we leave 2 sectors for BL
FLASH_BOOTLOADER_LOAD_KB 256

PB15 LED_SWITCH_2 OUTPUT HIGH
PB14 LED_SWITCH_1 OUTPUT HIGH

# board voltage
STM32_VDD 330U

# order of UARTs (and USB)
SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7

define HAL_SERIAL0_PROTOCOL SerialProtocol_None

# USART3 F9
PD9 USART3_RX USART3 
PD8 USART3_TX USART3

# UART7 F9
PE7 UART7_RX UART7 
PE8 UART7_TX UART7 NODMA


PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

###########################
define BUILD_DEFAULT_LED_TYPE Notify_LED_ProfiLED_SPI
define NOTIFY_LED_LEN_DEFAULT 16
define CONFIGURE_PPS_PIN TRUE
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_NOTIFY_WITHOUT_RCOUT

FLASH_RESERVE_START_KB 256

define GPS_UBLOX_MOVING_BASELINE TRUE
define HAL_GCS_ENABLED 1
define HAL_LOGGING_ENABLED TRUE
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_NO_MONITOR_THREAD


define HAL_DISABLE_LOOP_DELAY
define USB_USE_WAIT TRUE
define HAL_USE_USB_MSD TRUE

define HAL_MINIMIZE_FEATURES 0


define HAL_DEVICE_THREAD_STACK 2048

#define AP_PARAM_MAX_EMBEDDED_PARAM 0

define HAL_BARO_ALLOW_INIT_NO_BARO

define HAL_STORAGE_SIZE 16384

# disable dual GPS and GPS blending to save flash space
define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1

# GPS+MAG
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_INS_ENABLED 1


# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB5 CAN2_RX CAN2
PB6 CAN2_TX CAN2

PA4 MPU_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
SPIDEV icm20948       SPI1 DEVID4  MPU_CS       MODE3  4*MHZ  8*MHZ

PF8 blank CS
SPIDEV profiled     SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ

IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270

define HAL_DEFAULT_INS_FAST_SAMPLE 5

# compass as part of ICM20948 on newer cubes
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90

# one baro
#BARO MS56XX I2C:0:0x77

PE4 CSPI4_CS CS
PE2 SPI4_SCK  SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4


PG15 CSPI6_CS CS
PG13 SPI6_SCK  SPI6
PG12 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6

PF7 SPI5_SCK  SPI5
PF9 SPI5_MOSI SPI5

# Now setup the pins for the microSD card, if available.
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1

define BOARD_SER1_RTSCTS_DEFAULT 0

define HAL_OS_FATFS_IO 1
define HAL_WITH_UAVCAN 1
env HAL_WITH_UAVCAN 1
define HAL_PICCOLO_CAN_ENABLE 0
define AP_UAVCAN_SLCAN_ENABLED 1

PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)

#gps f9
PD10 F91TXR INPUT 
PD11 F92RST INPUT
PD13 F93SB INPUT 
PD14 F94EXTINT INPUT 
PD15 F95RSV1 INPUT 
PG2 F97 INPUT GPIO(100)
PG3 F96RSV2 INPUT 
PD4 RTKSTAT INPUT
PD5 GEOFENCESTAT INPUT

#others
PG10 can2int INPUT 
PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW 
PF1 GNDDET2 INPUT
PF2 GNDDET1 INPUT
PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
PD6 TERMCAN1 OUTPUT LOW GPIO(3)
PB3 TERMCAN2 OUTPUT LOW GPIO(4)

#sensor enable
PC0 SENSEN OUTPUT HIGH
PB1 IMUINT INPUT
PB4 QCAN2INT0 INPUT
PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW 
PE0 QCAN1INT INPUT
PE1 QCAN1INT0 INPUT
PE3 QCAN1INT1 INPUT

PD7 QCAN2INT1 INPUT
PA8 QCAN12OSC1 INPUT

# This defines more ADC inputs.
PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)

# This input pin is used to detect that power is valid on USB.
PA9 VBUS INPUT
PH13 VDD_33V_SENS INPUT

# This defines some input pins, currently unused.
PB2 BOOT1 INPUT



define CAN_APP_NODE_NAME "com.cubepilot.herepro"

define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

define COMPASS_CAL_ENABLED 1

define HAL_ENABLE_SLCAN 1
# passthrough CAN1
define HAL_DEFAULT_CPORT 1

define CONFIGURE_PPS_PIN TRUE
define AP_PERIPH_HAVE_LED TRUE

define SCRIPTING_HEAP_SIZE (64*1024)

define GPS_MOVING_BASELINE 1