# hw definition file for processing by chibios_pins.py
# for iFlight Beast H7 hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1025

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 2048
env OPTIMIZE -O2

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

# only one I2C bus
I2C_ORDER I2C1

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

# Buzzer - DMA timer channel use by LEDs
#PD15 TIM4_CH4 TIM4 GPIO(80) ALARM
PD15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# Debug
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for MPU6000
PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI3 for Flash Storage 16mb
PA15 FLASH_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# SPI4 for OSD
PE4 AT7456E_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# I2C1 for baro
PB8 I2C1_SCL I2C1 PULLUP
PB9 I2C1_SDA I2C1 PULLUP

PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)

# define default battery setup
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 10.9
define HAL_BATT_CURR_SCALE 100
define HAL_BATT_MONITOR_DEFAULT 4

PC5 RSSI_ADC ADC1

# USART1 - RCIN
PA10 USART1_RX USART1
PA9  USART1_TX USART1

# USART2 (DJI)
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# USART3 (DJI RCIN)
PB11 USART3_RX USART3
define HAL_SERIAL3_PROTOCOL SerialProtocol_RCIN

# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# UART7
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# Motors
PB1  TIM3_CH4 TIM3 PWM(1) GPIO(50)          # 1
PE9  TIM1_CH1 TIM1 PWM(2) GPIO(51)          # 2
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR    # 3
PB0  TIM3_CH3 TIM3 PWM(4) GPIO(53) BIDIR    # 4

# NeoPixel LED strip
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED

DMA_PRIORITY TIM1* TIM3*
DMA_NOSHARE SPI1* SPI3* TIM1* TIM3* TIM4_UP USART1_TX

define HAL_STORAGE_SIZE 16384
# use last 2 pages for flash storage
# H743 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# spi devices
SPIDEV mpu6000   SPI1 DEVID1 MPU6000_CS MODE3  1*MHZ  4*MHZ
SPIDEV dataflash SPI3 DEVID2 FLASH_CS   MODE3 32*MHZ 32*MHZ
SPIDEV osd       SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ


# no built-in compass and no external I2C so no compass
define ALLOW_ARM_NO_COMPASS
define HAL_I2C_INTERNAL_MASK 0

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# one BARO
BARO DPS310 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