# hw definition file for processing by chibios_pins.py
# for Holybro KakuteH7Mini hardware.

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1058

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 2048

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# leave 1 sectors free
FLASH_RESERVE_START_KB 128

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

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# one I2C bus
I2C_ORDER I2C1

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

# buzzer
PC13 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
define HAL_BUZZER_PIN 80
define AP_NOTIFY_TONEALARM_ENABLED 1

# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for M25P16 dataflash
PA4 FLASH_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 for MAX7456 OSD
PB12 MAX7456_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI4 for MPU6000
PE4 MPU6000_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# I2C1 for baro
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

PA8 VBUS INPUT

# VTX Power control - should be high at startup to ensure power
PB11 VTX_PWR OUTPUT HIGH GPIO(81)
define RELAY2_PIN_DEFAULT 81

# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11.1
define HAL_BATT_CURR_SCALE 59.5

PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 8

PC2 LED0 OUTPUT LOW

# USART1 (DJI VTX / RX)
PA9  USART1_TX USART1
PA10 USART1_RX USART1

# USART2 (VTX)
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2 NODMA

# USART3 (GPS)
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# UART4
PD0 UART4_RX UART4 NODMA
PD1 UART4_TX UART4 NODMA

# USART6 (RX / SBUS)
PC7 USART6_RX USART6
PC6 USART6_TX USART6

# UART7 used by ESC, TX is not connected
PE7 UART7_RX UART7 NODMA

define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
define HAL_SERIAL6_BAUD 115
define HAL_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
define HAL_SERIAL7_BAUD 115

# Motors
PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51)
PB3  TIM2_CH2 TIM2 PWM(3) GPIO(52) BIDIR
PB10 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR
PA0  TIM5_CH1 TIM5 PWM(5) GPIO(54)
PA2  TIM5_CH3 TIM5 PWM(6) GPIO(55)
PC8  TIM8_CH3 TIM8 PWM(7) GPIO(56)
PC9  TIM8_CH4 TIM8 PWM(8) GPIO(57)

# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12

# LED strip
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)

DMA_NOSHARE SPI1* SPI4*

# spi devices
SPIDEV mpu6000   SPI4 DEVID1 MPU6000_CS MODE3  1*MHZ  4*MHZ
SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
SPIDEV osd       SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ

# 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

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180

# one BARO
BARO BMP280 I2C:0:0x76

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

define STM32_PWM_USE_ADVANCED TRUE