include common.inc

env OPTIMIZE -Os

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

# use last 2 pages for flash storage
# H743 has 16 pages of 128k each
define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# SPI1 for IMU1 (ICM42688)
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PC4 IMU1_CS CS

# SPI2 for flash (W25Q64JVZPIQ (64Mbit))
PA9 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PE11 FLASH_CS CS

# two I2C buses
I2C_ORDER I2C2 I2C1

# I2C1
PB8 I2C1_SCL I2C1 PULLUP
PB9 I2C1_SDA I2C1 PULLUP

# I2C2
PB10 I2C2_SCL I2C2 PULLUP
PB11 I2C2_SDA I2C2 PULLUP

# ADC
PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA0 BATT_CURRENT_SENS ADC1 SCALE(1)

define HAL_BATT_MONITOR_DEFAULT 4  # Analog voltage and current
define HAL_BATT_VOLT_PIN 18  # ADC channel
define HAL_BATT_CURR_PIN 16
define HAL_BATT_VOLT_SCALE 11.44  # Nominally a 11x divider. 11.44 is based on experimenting.
define HAL_BATT_CURR_SCALE 40.0  # This depends on the ESC's V/mA output ratio.

# LED
PC13 LED0 OUTPUT LOW GPIO(90) # Amber; System status.
PC0 LED1 OUTPUT LOW GPIO(91) # Not connected; GPS Status. (Required, or the system status LED won't work.)
define AP_NOTIFY_GPIO_LED_2_ENABLED 1
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 91

# order of UARTs (and USB) OTG2 may be required for SLCAN.
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7 UART8 #OTG2

# USART1
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# USART2 (MSP Displayport OSD)
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# USART3
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# UART4
PC10 UART4_TX UART4
PC11 UART4_RX UART4

# UART7 (ELRS receiver)
PB4 UART7_TX UART7
PB3 UART7_RX UART7

PE1 UART8_TX UART8
PE0 UART8_RX UART8

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# Motors
PC6  TIM3_CH1 TIM3  PWM(1)  GPIO(50)  BIDIR
PC7  TIM3_CH2 TIM3  PWM(2)  GPIO(51)  
PC8  TIM3_CH3  TIM3  PWM(3)  GPIO(52)  BIDIR
PC9  TIM3_CH4  TIM3  PWM(4)  GPIO(53)  
PE5  TIM15_CH1  TIM15  PWM(5)  GPIO(54)  BIDIR
PE6  TIM15_CH2  TIM15  PWM(6)  GPIO(55)
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)  BIDIR
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)

# Beeper
PE9 TIM1_CH1 TIM1 GPIO(58) ALARM

DMA_PRIORITY S*

DMA_NOSHARE SPI1* TIM3* TIM15* TIM1*

# SPI devices
SPIDEV icm42688  SPI1 DEVID1 IMU1_CS      MODE3  2*MHZ 16*MHZ
SPIDEV dataflash SPI2 DEVID1 FLASH_CS     MODE3 104*MHZ 104*MHZ 

# IMU
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
BARO DPS310 I2C:0:0x77

# 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

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport
define HAL_LOGGING_DATAFLASH_ENABLED 1