# hw definition file for processing by chibios_hwdef.py

# MCU class and specific type
MCU STM32H7xx STM32H757xx

define CORE_CM7
define SMPS_PWR

include ../CubeOrange/hwdef.inc

undef USB_STRING_PRODUCT
undef USB_STRING_MANUFACTURER
undef APJ_BOARD_ID
undef USB_PRODUCT

# USB setup
USB_PRODUCT 0x1058
USB_STRING_MANUFACTURER "CubePilot"
USB_STRING_PRODUCT "CubeOrange+"

APJ_BOARD_ID 1063

undef CHECK_ICM20602_EXT
undef CHECK_IMU0_PRESENT
undef CHECK_IMU1_PRESENT
undef CHECK_IMU2_PRESENT
undef CHECK_ICM20649
undef BOARD_VALIDATE
undef IMU
undef I2C_ORDER

PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
define HAL_I2C_INTERNAL_MASK 4

I2C_ORDER I2C2 I2C1 I2C4

COMPASS AK09916 I2C:2:0x0C false ROTATION_ROLL_180_YAW_225

PG1 ICM45686_CS CS

#IMU 0
SPIDEV icm42688_ext   SPI4 DEVID4  ACCEL_EXT_CS  MODE3  2*MHZ  8*MHZ

#IMU 1
SPIDEV icm42688_ext2  SPI4 DEVID5  GYRO_EXT_CS   MODE3  2*MHZ  8*MHZ

#IMU 2
SPIDEV icm45686       SPI1 DEVID4  ICM45686_CS   MODE1  2*MHZ  8*MHZ
SPIDEV icm20649       SPI1 DEVID4  MPU_CS        MODE3  4*MHZ  8*MHZ
SPIDEV icm45686_aux   SPI1 DEVID4  ICM45686_CS   MODE1  2*MHZ  8*MHZ
SPIDEV icm20948_aux   SPI4 DEVID1  MPU_EXT_CS    MODE3  4*MHZ  8*MHZ

# INSTANCE:<num> keyword is used to denote the instance number of the sensor
# while probing. Probing is skipped if the instance number doesn't match the
# backend count. Its important the IMUs are listed in order of precedence globally
# (i.e. INSTANCE:0 IMUs are listed before INSTANCE:1 IMUs) and locally (i.e. IMUs
# on the same bus are listed in order of detection precedence)

IMU Invensensev3 SPI:icm42688_ext ROTATION_YAW_90 INSTANCE:0

IMU Invensensev3 SPI:icm42688_ext2 ROTATION_PITCH_180_YAW_90 INSTANCE:1
IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 INSTANCE:1 

IMU Invensensev2 SPI:icm20649 ROTATION_YAW_270 INSTANCE:2
IMU Invensensev3 SPI:icm45686 ROTATION_ROLL_180_YAW_135 INSTANCE:2

define ICM45686_CLKIN 1

# AUX:<devid> keyword is used to check for the presence of the sensor
# in the detected IMUs list. If the IMU with the given devid is found
# then we skip the probe for the sensor the second time. This is useful
# if you have multiple choices for IMU over same instance number, and still 
# want to instantiate the sensor after main IMUs are detected.

IMU Invensensev2 SPI:icm20948_aux ROTATION_PITCH_180 AUX:2883874

IMU Invensensev3 SPI:icm45686_aux ROTATION_ROLL_180_YAW_135 AUX:3867658

define INS_AUX_INSTANCES 2

CHECK_ICM20649          spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
CHECK_ICM45686          spi_check_register_inv2("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)

CHECK_ICM42688_EXT2      spi_check_register("icm42688_ext2", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
CHECK_ICM45686_EXT2      spi_check_register("icm42688_ext2", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)

CHECK_ICM45686_EXT       spi_check_register("icm42688_ext", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
CHECK_ICM42688_EXT       spi_check_register("icm42688_ext", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)

CHECK_IMU0_PRESENT      $CHECK_ICM45686 || $CHECK_ICM20649
CHECK_IMU1_PRESENT      $CHECK_ICM20948_EXT || $CHECK_ICM42688_EXT2 || $CHECK_ICM45686_EXT2
CHECK_IMU2_PRESENT      $CHECK_ICM42688_EXT || $CHECK_ICM45686_EXT

BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT