# hw definition file for processing by chibios_hwdef.py for A6SE_YJUAV

# MCU class and specific type
MCU STM32H7xx STM32H750xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 1127

env OPTIMIZE -O2

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# internal flash is off limits
FLASH_SIZE_KB 128
FLASH_RESERVE_START_KB 0
define HAL_FLASH_PROTECTION 1

EXT_FLASH_SIZE_MB 16
EXT_FLASH_RESERVE_START_KB 1024
EXT_FLASH_RESERVE_END_KB 448

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

# now we define the pins that USB is connected on
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART2 TELEM1
PD6 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# USART6 TELEM2
PC7 USART6_RX USART6
PC6 USART6_TX USART6
PG13 USART6_CTS USART6
PG8 USART6_RTS USART6

# USART3 GPS1
PD9 USART3_RX USART3 NODMA
PD8 USART3_TX USART3 NODMA

# USART1 GPS2
PB7 USART1_RX USART1 NODMA
PA9 USART1_TX USART1 NODMA

# SBUS, DSM port
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# UART7 DEBUG
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 -IMU1
PB3 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1

# SPI6 -IMU2 -IMU3
PA5 SPI6_SCK SPI6 
PA6 SPI6_MISO SPI6
PA7 SPI6_MOSI SPI6

# SPI5
PF7 SPI5_SCK SPI5 
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5

# SPI4 -Extra SPI
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# sensors cs
PE4  IMU1_CS CS
PA0  IMU2_CS CS
PE10  FRAM_CS CS
PE9  BAROMETER1_CS CS
PE3  BAROMETER2_CS CS
PC15 RESERVE_CS CS

# Extra SPI CS
PE5 EXT_CS CS

# I2C buses
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C1 I2C2 I2C3 I2C4

NODMA I2C*
define STM32_I2C_USE_DMA FALSE
define HAL_I2C_INTERNAL_MASK 1

# PWM channels
PA15  TIM2_CH1  TIM2 PWM(1)  GPIO(50)   BIDIR
PA1   TIM2_CH2  TIM2 PWM(2)  GPIO(51)
PA2   TIM2_CH3  TIM2 PWM(3)  GPIO(52)   BIDIR
PA3   TIM2_CH4  TIM2 PWM(4)  GPIO(53)
PA8   TIM1_CH1  TIM1 PWM(5)  GPIO(54)	BIDIR
PE11  TIM1_CH2  TIM1 PWM(6)  GPIO(55)
PA10  TIM1_CH3  TIM1 PWM(7)  GPIO(56)	BIDIR
PE14  TIM1_CH4  TIM1 PWM(8)  GPIO(57)
PB5   TIM3_CH2  TIM3 PWM(9)  GPIO(58)
PB0   TIM3_CH3  TIM3 PWM(10) GPIO(59)
PB1   TIM3_CH4  TIM3 PWM(11) GPIO(60)

# PWM output for buzzer
PD14 TIM4_CH3 TIM4 GPIO(77) ALARM

# RC input
PI7 TIM8_CH3 TIM8 RCININT PULLUP LOW

# Analog in
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
PF11 BATT_VOLTAGE_SENS ADC1 SCALE(1)

# Analog sys 5v
PF12 VDD_5V_SENS ADC1 SCALE(2)

# ADC3.3/ADC6.6
PC5 SPARE1_ADC1 ADC1 SCALE(1)
PC0 SPARE2_ADC1 ADC1 SCALE(2)

PC1 RSSI_IN ADC1 SCALE(1)

PC3 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2

# GPIOs
PC13 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1

# enable pins
PC14 VDD_3V3_SENSORS_EN OUTPUT LOW

# red LED marked as B/E
PE15 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
PD10 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
PG0  LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)

define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2

# use pixracer style 3-LED indicators
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1
PB15 LED_SAFETY OUTPUT
PA4 SAFETY_IN INPUT PULLDOWN

# SPI devices 
SPIDEV imu1	        SPI1 DEVID1  IMU1_CS         MODE3  2*MHZ  8*MHZ
SPIDEV imu2	        SPI6 DEVID1  IMU2_CS         MODE3  2*MHZ  8*MHZ
SPIDEV ramtron      SPI5 DEVID1  FRAM_CS         MODE3  8*MHZ  8*MHZ
SPIDEV dps310       SPI5 DEVID3  BAROMETER1_CS   MODE3   5*MHZ  5*MHZ
SPIDEV ms5611       SPI5 DEVID3  BAROMETER2_CS   MODE3   5*MHZ  5*MHZ

# IMU1
IMU Invensense SPI:imu1 ROTATION_NONE
IMU Invensensev3 SPI:imu1 ROTATION_NONE

# IMU2
IMU Invensense SPI:imu2 ROTATION_NONE
IMU Invensensev3 SPI:imu2 ROTATION_NONE

define HAL_DEFAULT_INS_FAST_SAMPLE 5

# baro
BARO DPS310 SPI:dps310
BARO MS56XX SPI:ms5611
BARO ICP201XX I2C:0:0x64

# compass
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_180

# QuadSPI Flash
PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
PE2  QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
PD13 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
PB6  QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
PB2  QUADSPI_CLK     QUADSPI1 SPEED_HIGH

# 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

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

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1
#define HAL_USE_EMPTY_STORAGE 1

DMA_PRIORITY SPI1*  TIM*UP*
DMA_NOSHARE  SPI1*  TIM*UP*

# Enable Sagetech MXS ADSB transponder
define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED