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

# default to all pins low to avoid ESD issues
#DEFAULTGPIO OUTPUT LOW PULLDOWN

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

MCU_CLOCKRATE_MHZ 480

# board ID for firmware load
APJ_BOARD_ID AP_HW_CBU_StampH743

FLASH_RESERVE_START_KB 128

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -Os

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2

# 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

PB6 USART1_TX USART1 NODMA
PB7 USART1_RX USART1 NODMA

PA3 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# GPS 1
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# GPS 2
PH13 UART4_TX UART4
PH14 UART4_RX UART4

PC8 UART5_RTS UART5
PC9 UART5_CTS UART5
PC12 UART5_TX UART5
PD2 UART5_RX UART5

# RCIN
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
define DEFAULT_SERIAL6_BAUD 115

PE8 UART7_TX UART7
PF6 UART7_RX UART7
PF8 UART7_RTS UART7
PE10 UART7_CTS UART7

PE1 UART8_TX UART8 NODMA
PE0 UART8_RX UART8 NODMA

PC1 ETH_MDC              ETH1
PA2 ETH_MDIO             ETH1
PC4 ETH_RMII_RXD0        ETH1
PC5 ETH_RMII_RXD1        ETH1
PG13 ETH_RMII_TXD0       ETH1
PG12 ETH_RMII_TXD1       ETH1
PB11 ETH_RMII_TX_EN      ETH1
PA7 ETH_RMII_CRS_DV      ETH1
PA1 ETH_RMII_REF_CLK     ETH1

# PHY DP83825IRMQR
define BOARD_PHY_ID  MII_DP83825I_ID
define BOARD_PHY_RMII

# ADC
PA0 BATT_CURRENT_SENS ADC1 SCALE(1)  # Current
PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1)  # Voltage
PB1 SPARE_SENS ADC1 SCALE(1)   # Spare

# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 18
define HAL_BATT_CURR_PIN 16
define HAL_BATT_VOLT_SCALE 11.1
define HAL_BATT_CURR_SCALE 64

# IMU1 ICM-42760-P
PI9 IMU1_CS CS
PF2 IMU1_DRDY INPUT

# IMU2 ICM-42688-P
PH5 IMU2_CS CS
PA10 IMU2_DRDY INPUT

# IMU3 ICM-42688-P
PI4 IMU3_CS CS
PI6 IMU3_DRDY INPUT

# SPI4 - External
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
PI7 SP4_DRDY INPUT
PE4 SP4_CS1 CS

# SPI6 - IMUs
PA5 SPI6_SCK SPI6
PA6 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6

# PWM output pins
PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
PI0  TIM5_CH4 TIM5 PWM(4) GPIO(53)
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR
PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) BIDIR
PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
PA15 TIM2_CH1 TIM2 PWM(9) GPIO(58)
PB3  TIM2_CH2 TIM2 PWM(10) GPIO(59)

PF9 TIM14_CH1 TIM14 GPIO(61) ALARM

# CAN bus
PD0  CAN1_RX CAN1
PD1  CAN1_TX CAN1
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2

# I2C buses

# I2C1 - BMM150
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1

# I2C2 - DPS310
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

# I2C3 - GPS1 external compass
PA8 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

# I2C4 - GPS2 external compass
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C1 I2C2 I2C3 I2C4
define HAL_I2C_INTERNAL_MASK 3

# power enable pins
PI11 IMU1_PWR_EN OUTPUT HIGH
PF4 IMU2_PWR_EN OUTPUT HIGH
PE7 IMU3_PWR_EN OUTPUT HIGH
PG8 MAG_PWR_EN OUTPUT HIGH
PC13 SD_PWR_EN OUTPUT HIGH
PG15 Ethernet_PWR_EN OUTPUT HIGH

# 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

# safety
PF5 SAFETY_IN INPUT PULLDOWN

# LED
PE3 LED_RED OUTPUT HIGH GPIO(90)

define AP_NOTIFY_GPIO_LED_1_ENABLED 1
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_LED_ON 1

# barometers
BARO DPS310 I2C:1:0x77

# compass
COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# IMUs
SPIDEV icm42688   SPI6 DEVID1  IMU2_CS MODE3  2*MHZ  16*MHZ
SPIDEV icm42688_2 SPI6 DEVID2  IMU3_CS MODE3  2*MHZ  16*MHZ
SPIDEV icm42670   SPI6 DEVID3  IMU1_CS MODE3  2*MHZ  8*MHZ

IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180
IMU Invensensev3 SPI:icm42670 ROTATION_PITCH_180_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 7

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

DMA_PRIORITY SDMMC* TIM* SPI6*
DMA_NOSHARE TIM2* TIM4* TIM5*

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

# enable DFU reboot for installing bootloader
# note that if firmware is build with --secure-bl then DFU is
# disabled
ENABLE_DFU_BOOT 1

# build ABIN for flash-from-bootloader support:
env BUILD_ABIN True

# ethernet consumes a big chunk of flash
define AP_BATTERY_SCRIPTING_ENABLED 1