# hw definition file for processing by chibios_hwdef.py
# for the CBUnmanned H743 Stamp hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID AP_HW_CBU_StampH743

# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0

# the location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 128

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -Os

# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART1 UART2

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN

# pins for SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# CS pins
PI9 IMU1_CS CS
PH5 IMU2_CS CS
PI4 IMU3_CS CS
PE4 SP4_CS1 CS

PA3 USART2_RX USART2
PD5 USART2_TX USART2

PB6 USART1_TX USART1
PB7 USART1_RX USART1

PE3 LED_ACTIVITY OUTPUT HIGH
define HAL_LED_ON 1

define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384

# enable DFU by default
ENABLE_DFU_BOOT 1

# support flashing from SD card:
# power enable pins
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH

PI11 IMU1_PWR_EN OUTPUT HIGH
PF4 IMU2_PWR_EN OUTPUT HIGH
PE7 IMU3_PWR_EN OUTPUT HIGH
PG8 MAG_PWR_EN OUTPUT HIGH
PG15 Ethernet_PWR_EN OUTPUT HIGH

# FATFS support:
define CH_CFG_USE_MEMCORE 1
define CH_CFG_USE_HEAP 1
define CH_CFG_USE_SEMAPHORES 0
define CH_CFG_USE_MUTEXES 1
define CH_CFG_USE_DYNAMIC 1
define CH_CFG_USE_WAITEXIT 1
define CH_CFG_USE_REGISTRY 1

# microSD support
PD6  SDMMC2_CK SDMMC2
PD7  SDMMC2_CMD SDMMC2
PB14 SDMMC2_D0 SDMMC2
PB15 SDMMC2_D1 SDMMC2
PG11 SDMMC2_D2 SDMMC2
PB4  SDMMC2_D3 SDMMC2
define FATFS_HAL_DEVICE SDCD2

DMA_PRIORITY SDMMC* ADC* UART* USART* SPI* TIM*

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

define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1