# hw definition file for processing by chibios_hwdef.py
# for H743

# MCU class and specific type
MCU STM32H7xx STM32H743xx

env OPTIMIZE -O2

# USB setup
USB_STRING_MANUFACTURER "ArduPilot"
USB_STRING_PRODUCT "%BOARD%"


# crystal frequency
OSCILLATOR_HZ 25000000


FLASH_SIZE_KB 2048

# setup build for a peripheral firmware
env AP_PERIPH 1

define HAL_BUILD_AP_PERIPH

# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 128
FLASH_BOOTLOADER_LOAD_KB 128

# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256

MAIN_STACK 0x2000
PROCESS_STACK 0x6000

# board ID for firmware load
APJ_BOARD_ID 1315

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

###########################

# CAN setup
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

###########################

# UART 1 - Avionics
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# UART 2 - Avionics
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# UART 3 - unused, J2 (2 pin)
PC10 UART4_TX UART4
PC11 UART4_RX UART4

# UART 4 - debug console, J6 (4 pin)
PE7 UART7_RX UART7
PE8 UART7_TX UART7

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

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2
#SERIAL_ORDER OTG1 USART1 USART2 OTG2
#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7
#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7 OTG2

define AP_CAN_SLCAN_ENABLED 0

###########################
# storage
###########################
define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14
###########################


# Ethernet
PC1  ETH_MDC            ETH1
PA2  ETH_MDIO           ETH1
PC4  ETH_RMII_RXD0      ETH1
PC5  ETH_RMII_RXD1      ETH1
PB12 ETH_RMII_TXD0      ETH1
PB13 ETH_RMII_TXD1      ETH1
PB11 ETH_RMII_TX_EN     ETH1
PA7  ETH_RMII_CRS_DV    ETH1
PA1  ETH_RMII_REF_CLK   ETH1

PA15 GPIO_ETH_ENABLE INPUT FLOATING GPIO(113)
define HAL_GPIO_ETH_ENABLE 113

define BOARD_PHY_ID MII_LAN8742A_ID
define BOARD_PHY_RMII
define HAL_PERIPH_ENABLE_NETWORKING

###################

#Communications and debug
# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0
#################################

# Multi-purpose pins like SPI, I2C, GPIO, PWMs, LEDs, ADC

I2C_ORDER I2C4
PD12 I2C4_SCL I2C4
PD13 I2C4_SDA I2C4


# LEDs
PE11 LED1 OUTPUT LOW GPIO(3)
PE12 LED2 OUTPUT LOW GPIO(4)
define HAL_GPIO_PIN_LED             HAL_GPIO_PIN_LED1
#define HAL_GPIO_PIN_LED_CAN1        HAL_GPIO_PIN_LED2
define HAL_LED_ON 1

define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE

#################################


# ---------------------------------------------------------------------------------------------
# AP_Periph - boiler-plate configurations that all HW AP-Periph need
# ---------------------------------------------------------------------------------------------
define DISABLE_SERIAL_ESC_COMM TRUE
define HAL_NO_RCIN_THREAD
#define HAL_NO_GPIO_IRQ
define HAL_DISABLE_LOOP_DELAY


define PERIPH_FW TRUE
#define NO_DATAFLASH TRUE
define HAL_LOGGING_ENABLED TRUE

#################################
# AP_Periph - configurations specific to this App
#################################

# listen for reboot command from uploader.py script
# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
#################################


DMA_NOSHARE USART1* USART2* CAN1*

# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0

AUTOBUILD_TARGETS None