ardupilot/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for H757

# MCU class and specific type
MCU STM32H7xx STM32H757xx

# USB setup
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
USB_PRODUCT 0x1059
USB_STRING_MANUFACTURER "CubePilot"
USB_STRING_PRODUCT "CubeRed"

define CORE_CM7
define SMPS_PWR

# crystal frequency
OSCILLATOR_HZ 24000000

# board ID for firmware load
APJ_BOARD_ID 1069

FLASH_SIZE_KB 2048

# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 128

# the location where the bootloader will put the firmware
# the H743 has 128k sectors
FLASH_BOOTLOADER_LOAD_KB 128

define HAL_LED_ON 0

# Enable FAT filesystem support (needs a microSD defined via SDMMC).
define HAL_OS_FATFS_IO 1

# Setup the IMU heater
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45
define HAL_IMUHEAT_P_DEFAULT 50
define HAL_IMUHEAT_I_DEFAULT 0.07
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5


# supports upto 8MBits/s
CANFD_SUPPORTED 8

STM32_ST_USE_TIMER 12

define CH_CFG_ST_RESOLUTION 16

# use last 2 pages for flash storage
# H757 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14
define HAL_STORAGE_SIZE 32768

# ADC setup
PF11 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(14)
PC0 BATT_CURRENT_SENS ADC1 SCALE(1) ANALOG(15)

PB1 AUX_POWER ADC2 SCALE(1) ANALOG(13) # AUX Volt
PF12 AUX_ADC2 ADC1 SCALE(1) ANALOG(4) # AUX Curr

define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT2_VOLT_PIN 13
define HAL_BATT2_CURR_PIN 4
define HAL_BATT_VOLT_SCALE 12.02
define HAL_BATT_CURR_SCALE 39.877

PF13 VDD_5V_SENS ADC2 SCALE(2) ANALOG(18)

# And the analog input for airspeed (rarely used these days).
PF3 PRESSURE_SENS ADC3 SCALE(2) ANALOG(8)
PC3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(3) ANALOG(9)

# CAN config
PE10 GPIOCAN1_TERM OUTPUT HIGH
PG4 GPIOCAN2_TERM OUTPUT HIGH

PB8    CAN1_RX    CAN1
PB9    CAN1_TX    CAN1
PB5    CAN2_RX    CAN2
PB6    CAN2_TX    CAN2


# SPI1
PE13   BARO_0_CS    CS
PE9    ICM42688_0_CS    CS
PB3    SPI1_SCK    SPI1
PB4    SPI1_MISO    SPI1
PD7    SPI1_MOSI    SPI1

# SPI2
PD15   RM3100_CS    CS
PD14   ICM42688_1_CS    CS
PA9    SPI2_SCK    SPI2
PB14   SPI2_MISO    SPI2
PB15   SPI2_MOSI    SPI2

# SPI4
PF5    ICM_2_CS   CS
PC2    BARO_1_CS   CS
PE12    SPI4_SCK    SPI4
PE5    SPI4_MISO    SPI4
PE6    SPI4_MOSI    SPI4

# Sensors
SPIDEV icm42688_0       SPI1 DEVID1  ICM42688_0_CS      MODE3  2*MHZ  8*MHZ
SPIDEV ms5611_0         SPI1 DEVID2  BARO_0_CS          MODE3 20*MHZ 20*MHZ

SPIDEV icm42688_1       SPI2 DEVID1  ICM42688_1_CS      MODE3  2*MHZ  8*MHZ
SPIDEV rm3100           SPI2 DEVID2  RM3100_CS          MODE3  1*MHZ  1*MHZ

SPIDEV icm20649         SPI4 DEVID1  ICM_2_CS           MODE3  4*MHZ  8*MHZ
# alternative to icm20649
SPIDEV icm45686         SPI4 DEVID1  ICM_2_CS           MODE3  2*MHZ  8*MHZ
SPIDEV ms5611_1         SPI4 DEVID2  BARO_1_CS          MODE3 20*MHZ 20*MHZ

IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90
IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180
IMU Invensensev3 SPI:icm45686 ROTATION_YAW_180

BARO MS56XX SPI:ms5611_0
BARO MS56XX SPI:ms5611_1

COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270 

CHECK_ICM20649        spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
CHECK_ICM45686_2      spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)

CHECK_ICM42688_0      spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
CHECK_ICM45686_0      spi_check_register("icm42688_0", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)

CHECK_ICM42688_1      spi_check_register("icm42688_1", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
CHECK_ICM45686_1      spi_check_register("icm42688_1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)

CHECK_MS5611_0        check_ms5611("ms5611_0")
CHECK_MS5611_1        check_ms5611("ms5611_1")


CHECK_IMU0_PRESENT      $CHECK_ICM20649 || $CHECK_ICM45686_2
CHECK_IMU1_PRESENT      $CHECK_ICM42688_0 || $CHECK_ICM45686_0
CHECK_IMU2_PRESENT      $CHECK_ICM42688_1 || $CHECK_ICM45686_1
CHECK_BARO0_PRESENT     $CHECK_MS5611_0
CHECK_BARO1_PRESENT     $CHECK_MS5611_1

BOARD_VALIDATE  $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT $CHECK_IMU1_PRESENT $CHECK_BARO1_PRESENT $CHECK_IMU2_PRESENT 

define HAL_CHIBIOS_ARCH_FMUV3 1

define BOARD_TYPE_DEFAULT 3

# MCO output
PA8    RCC_MCO_1    OUTPUT LOW

# I2C
PF0    I2C2_SDA    I2C2
PF1    I2C2_SCL    I2C2
PF14    I2C4_SCL    I2C4
PF15    I2C4_SDA    I2C4
I2C_ORDER I2C2 I2C4

# Ethernet
PC1  ETH_MDC            ETH1
PA2  ETH_MDIO           ETH1
PC4  ETH_RMII_RXD0      ETH1
PC5  ETH_RMII_RXD1      ETH1
PB12 ETH_RMII_TXD0      ETH1
PB13 ETH_RMII_TXD1      ETH1
PB11 ETH_RMII_TX_EN     ETH1
PA7  ETH_RMII_CRS_DV    ETH1
PA1  ETH_RMII_REF_CLK   ETH1

define BOARD_PHY_ID  MII_LAN8720_ID
define BOARD_PHY_RMII

# Refer to https://maclookup.app/vendors/cubepilot-pty-ltd
# Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID
define AP_NETWORKING_DEFAULT_MAC_ADDR "A8:B0:28:00:00:00"

# RCIN
PB7  TIM4_CH2 TIM4 RCININT  PULLDOWN

# QUADSPI
PD11    QUADSPI_BK1_IO0    QUADSPI1
PD12    QUADSPI_BK1_IO1    QUADSPI1
PE2    QUADSPI_BK1_IO2    QUADSPI1
PD13    QUADSPI_BK1_IO3    QUADSPI1
PB10    QUADSPI_BK1_NCS    QUADSPI1
PB2    QUADSPI_CLK    QUADSPI1

# SDMMC
PC10    SDMMC1_D2    SDMMC1
PC11    SDMMC1_D3    SDMMC1
PC12    SDMMC1_CK    SDMMC1
PC8    SDMMC1_D0    SDMMC1
PC9    SDMMC1_D1    SDMMC1
PD2    SDMMC1_CMD    SDMMC1

# USB
PA11    OTG_FS_DM    OTG1
PA12    OTG_FS_DP    OTG1

# SWD
PA13    JTMS-SWDIO    SWD
PA14    JTCK-SWCLK    SWD


# GPIO

PG5 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)

# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp. 
PE15 VDD_BRICK_nVALID INPUT PULLUP
PE4 VDD_BRICK2_nVALID INPUT PULLUP
PF4 VDD_5V_HIPOWER_nOC INPUT PULLUP
PD10 VDD_5V_PERIPH_nOC INPUT PULLUP


# This is the pin to enable the sensors rail. It can be used to power
# cycle sensors to recover them in case there are problems with power on
# timing affecting sensor stability. We pull it LOW on startup, which
# means sensors off, then it is pulled HIGH in peripheral_power_enable()
PG0 VDD_3V3_SENSORS_EN OUTPUT LOW

# This defines an output pin which will default to output HIGH. It is
# a pin that enables peripheral power on this board. It starts in the
# off state, then is pulled low to enable peripherals in
# peripheral_power_enable()
PF2 nVDD_5V_PERIPH_EN OUTPUT LOW

PA0 TIM5_CH1 TIM5 GPIO(79) ALARM

PE3 VBUS_nVALID INPUT PULLUP

# upper
PG2 HEATER_EN OUTPUT LOW GPIO(81)
# lower
# PG1 HEATER_EN OUTPUT LOW GPIO(80)

define HAL_HEATER_GPIO_PIN 81
# define HAL_HEATER_GPIO_PIN2 80

# Timer
PE11    TIM1_CH2    TIM1 PWM(1) GPIO(50) BIDIR
PE14    TIM1_CH4    TIM1 PWM(2) GPIO(51) BIDIR
PA15    TIM2_CH1    TIM2 PWM(3) GPIO(52) BIDIR
PA3    TIM2_CH4    TIM2 PWM(4) GPIO(53) BIDIR
PA6    TIM3_CH1    TIM3 PWM(5) GPIO(54) BIDIR
PB0    TIM3_CH3    TIM3 PWM(6) GPIO(55) BIDIR

# UART
PD1    UART4_TX    UART4
PD0    UART4_RX    UART4

PE0    UART8_RX    UART8
PE1    UART8_TX    UART8

PD3    USART2_CTS    USART2
PD4    USART2_RTS    USART2
PD5    USART2_TX    USART2
PD6    USART2_RX    USART2

PD8    USART3_TX    USART3
PD9    USART3_RX    USART3

PC6    USART6_TX    USART6
PC7    USART6_RX    USART6

PG15    USART6_CTS    USART6
PG8    USART6_RTS    USART6

# primary <-> secondary 
PE7    UART7_RX    UART7
PE8    UART7_TX    UART7

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

EXT_FLASH_SIZE_MB 32
INT_FLASH_PRIMARY 1

# forward Serial traffic from USB OTG2 to Serial7(UART7)
define HAL_FORWARD_OTG2_SERIAL 7
define HAL_HAVE_DUAL_USB_CDC 1
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
define DEFAULT_SERIAL7_BAUD 2000000