# hw definition file for processing by chibios_pins.py
# for SakuraH743

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 2714

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 2048
env OPTIMIZE -Os

# USB setup
USB_STRING_MANUFACTURER "SkySakura"

#debug on USART6 -- Uncomment if debugging
#STDOUT_SERIAL SD6
#STDOUT_BAUDRATE 115200


# bootloader takes first sector
FLASH_RESERVE_START_KB 128


# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# DRDY pins
PC4 DRDY_IIM42652_SPI1 INPUT
PB2 DRDY_ICM42688_SPI4 INPUT

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PD4 VBUS INPUT OPENDRAIN

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1
PD10 LED_SAFETY OUTPUT LOW
PD11 SAFETY_IN INPUT PULLDOWN
#disable safety button by default
define BOARD_SAFETY_ENABLE_DEFAULT 0

# SPI1 for IMU1 (IIM42652)
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 IMU1_CS CS

# SPI2 - external (USER)
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 EXT_CS CS
#PB12 FLASH_CS CS

# SPI1 for BARO2 (DPS310)
PC5 BARO2_CS CS

# SPI4 for IMU2 (ICM42688)
PE11 IMU2_CS CS
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4

# two I2C bus
I2C_ORDER I2C1 I2C2

# I2C1
PB6 I2C1_SCL I2C1 PULLUP
PB7 I2C1_SDA I2C1 PULLUP

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# ADC
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
PC0 BATT2_VOLTAGE_SENS ADC2 SCALE(1)
PC1 BATT2_CURRENT_SENS ADC2 SCALE(1)

define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT2_VOLT_PIN 10
define HAL_BATT2_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 34.0
define HAL_BATT_CURR_SCALE 40.0
define HAL_BATT2_VOLT_SCALE 10

# LED setup
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
PB5 LED_RED OUTPUT GPIO(83)
PB4 LED_GREEN OUTPUT GPIO(82)
PB3 LED_BLUE OUTPUT GPIO(81)

define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 83
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 82
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 81


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

# USART1 (TELEM2)
PA10 USART1_RX USART1
PA9  USART1_TX USART1

# USART2 (USER)
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2 NODMA
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None 

# USART3 (GPS1)
PD9 USART3_RX USART3 
PD8 USART3_TX USART3 

# UART4 (RCIN) 
PB9 UART4_TX UART4 
PB8 UART4_RX UART4 
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN

# USART6 (DisplayPort)
PC7 USART6_RX USART6 
PC6 USART6_TX USART6 
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort

# UART7 (telem1)
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
PE10 UART7_CTS UART7
PE9  UART7_RTS UART7

# UART8 (ESC Telemetry)
PE0 UART8_RX UART8 NODMA
PE1 UART8_TX UART8 NODMA
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry


# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(90)

# Motors
PA2 TIM5_CH3 TIM5 PWM(1) GPIO(50) BIDIR
PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51)
PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR
PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) 
PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54) BIDIR
PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
PE5 TIM15_CH1 TIM15 PWM(7) GPIO(56) BIDIR
PE6 TIM15_CH2 TIM15 PWM(8) GPIO(57) 
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) NODMA
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) NODMA
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) NODMA
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61) NODMA

#LED
PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED

# Beeper
PD7   BUZZER OUTPUT GPIO(84) LOW
define HAL_BUZZER_PIN 84

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

# GPIOs 
PE15 VTX_PWR OUTPUT LOW GPIO(85)
define RELAY1_PIN_DEFAULT 85


define HAL_STORAGE_SIZE 32768

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

# spi devices
SPIDEV icm42688  SPI4 DEVID1 IMU2_CS      MODE3  2*MHZ 16*MHZ   
SPIDEV iim42652   SPI1 DEVID1  IMU1_CS   MODE3  2*MHZ  8*MHZ
SPIDEV dps310 SPI1 DEVID2 BARO2_CS MODE3 5*MHZ 5*MHZ


DMA_PRIORITY SPI1* SPI4*
DMA_NOSHARE SPI1* SPI4* TIM5* TIM3* TIM2* TIM15*

# has an integreted mag, but still probe the i2c bus for all possible
# external compass types
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_90
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define ALLOW_ARM_NO_COMPASS

# two IMUs
# H743-V1,       ICM42688, IIM42652
IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
IMU Invensensev3 SPI:iim42652 ROTATION_YAW_180
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# DPS310 integrated on SPI1 bus
BARO ICP201XX I2C:0:0x63
BARO DPS310 SPI:dps310

define HAL_OS_FATFS_IO 1
define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN
define HAL_FRAME_TYPE_DEFAULT 12

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