# hw definition file for processing by chibios_hwdef.py
# for FlyingmoonH743 hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1112

FLASH_SIZE_KB 2048
define HAL_STORAGE_SIZE 32768

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

env OPTIMIZE -O2

# crystal frequency
OSCILLATOR_HZ 8000000

# this is the STM32 timer that ChibiOS will use for the low level
# driver. This must be a 32 bit timer. We currently only support
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details

# ChibiOS system timer
STM32_ST_USE_TIMER 2

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# this is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN
PA9 VBUS INPUT OPENDRAIN

# The normal usage of this ordering is:
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL1: telem1
# 5) SERIAL2: telem2
# 3) SERIAL3: primary GPS1
# 4) SERIAL4: second GPS2
# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)

SERIAL_ORDER OTG1 USART1 UART4 USART2 USART3 UART5

# USART1 for telem1
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# USART2 for primary GPS1
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2

# USART3 for second GPS2
PD8 USART3_TX USART3 NODMA
PD9 USART3_RX USART3

# UART4 for telem2
PC10 UART4_TX UART4 NODMA
PC11 UART4_RX UART4 NODMA

# UART5
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA

# CAN Busses 1
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# CAN Busses 2
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2

# SPI1 for IMU OSD
PA5  SPI1_SCK SPI1
PA6  SPI1_MISO SPI1
PA7  SPI1_MOSI SPI1
PB0  ICM20689_CS CS
PB1  ICM42605_CS CS
PB2  ICM20649_CS CS
PA4  RM3100_CS CS
PA8  MAX7456_CS CS

# SPI bus for dataflash AND SD
PD3  SPI2_SCK  SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PA10 FRAM_CS CS SPEED_VERYLOW
PE15 FLASH_CS CS

# SPI3 bus for reserve
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3

SPIDEV icm20689 SPI1 DEVID1  ICM20689_CS  MODE3   2*MHZ    8*MHZ
SPIDEV icm20649 SPI1 DEVID2  ICM20649_CS  MODE3   2*MHZ    8*MHZ
SPIDEV icm42605 SPI1 DEVID3  ICM42605_CS  MODE3   2*MHZ    8*MHZ
SPIDEV rm3100   SPI1 DEVID4  RM3100_CS    MODE3   2*MHZ    8*MHZ
SPIDEV osd      SPI1 DEVID5  MAX7456_CS   MODE0  10*MHZ   10*MHZ
SPIDEV ramtron  SPI2 DEVID1  FRAM_CS      MODE3   8*MHZ    8*MHZ 
SPIDEV sdcard   SPI2 DEVID2  FLASH_CS     MODE0   1*MHZ    8*MHZ

# Three IMUs
IMU Invensense   SPI:icm20689 ROTATION_NONE
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_90

# Two baro
BARO SPL06     I2C:0:0x76
BARO MS56XX    I2C:0:0x77

# compass
COMPASS RM3100 SPI:rm3100 false ROTATION_NONE

# also probe external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1
# enable FAT filesystem support
define HAL_OS_FATFS_IO 1

# define the order that I2C buses 
I2C_ORDER I2C1 I2C2
PB8  I2C1_SCL I2C1 
PB9  I2C1_SDA I2C1 
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

define HAL_I2C_INTERNAL_MASK 0

# PWM out pins
PA0  TIM5_CH1 TIM5 PWM(1)   GPIO(50)
PA1  TIM5_CH2 TIM5 PWM(2)   GPIO(51)
PA2  TIM5_CH3 TIM5 PWM(3)   GPIO(52)
PA3  TIM5_CH4 TIM5 PWM(4)   GPIO(53)
PE9  TIM1_CH1 TIM1 PWM(5)   GPIO(54)
PE11 TIM1_CH2 TIM1 PWM(6)   GPIO(55)
PE13 TIM1_CH3 TIM1 PWM(7)   GPIO(56)
PE14 TIM1_CH4 TIM1 PWM(8)   GPIO(57)
PD12 TIM4_CH1 TIM4 PWM(9)   GPIO(58)
PD13 TIM4_CH2 TIM4 PWM(10)  GPIO(59)
PD14 TIM4_CH3 TIM4 PWM(11)  GPIO(60)
PD15 TIM4_CH4 TIM4 PWM(12)  GPIO(61)
PC7  TIM3_CH2 TIM3 PWM(13)  GPIO(62) NODMA
PC8  TIM3_CH3 TIM3 PWM(14)  GPIO(63) NODMA
PC9  TIM3_CH4 TIM3 PWM(15)  GPIO(64) NODMA

PC15  EXTERN_GPIO1 OUTPUT GPIO(1)
PC14  EXTERN_GPIO2 OUTPUT GPIO(2)
PC13  EXTERN_GPIO3 OUTPUT GPIO(3)
PE6   EXTERN_GPIO4 OUTPUT GPIO(4)
PE4   EXTERN_GPIO5 OUTPUT GPIO(5)
define RELAY1_PIN_DEFAULT 1
define RELAY2_PIN_DEFAULT 2
define RELAY3_PIN_DEFAULT 3
define RELAY4_PIN_DEFAULT 4
define RELAY5_PIN_DEFAULT 5

# also USART6_RX for serial RC
PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW DMA_CH0

# LED setup is similar to PixRacer
define HAL_HAVE_PIXRACER_LED
PE3 LED_RED OUTPUT GPIO(10)
PE2 LED_GREEN OUTPUT GPIO(11)
PE1 LED_BLUE OUTPUT GPIO(12)
PE0 LED_YELOW OUTPUT GPIO(13)

define HAL_GPIO_A_LED_PIN 10
define HAL_GPIO_B_LED_PIN 11
define HAL_GPIO_C_LED_PIN 12

# analog in
PC0 PRESSURE_SENS ADC1 SCALE(2)
PC1 RSSI_IN ADC1 SCALE(2)

# define the primary battery connectors.
PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
PC4 VDD_5V_SENS ADC1 SCALE(2)
PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(4)

define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 22
define HAL_BATT_CURR_SCALE 55.55
define HAL_HAVE_SAFETY_SWITCH 1 
PE7 LED_SAFETY OUTPUT
PE8 SAFETY_IN INPUT PULLDOWN

# PWM output for buzzer
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM

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