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# mRo Pixracer Pro Flight Controller
# STM32H743IIK6
# 8 PWM / IO - DMA capable and hardware and/or software switchable 3.3v / 5v Logic (hardware default)
# Logic level set in hardware: No Solder for 5v, Solder 1-2 for 3.3v, Solder 2-3 for 3.3v / 5v software switchable
# Exposed JST GH Connectors: GPS UART+I2C connector, 6 Available UARTS (2 with Flow Control), 2 FDCAN, SPI, I2C, Power with analog current and voltage sense
# 3 IMUs (ICM20602 6DOF, ICM20948 9DOF, BMI088 6DOF)
# Baro, FRAM (256kb), SDCARD Socket, TC2030 JTAG, USB-C
# Onboard 3 color LED and buzzer
# Uncased weight and dimensions:
# Weight (with headers): 11.3g (.40oz)
# Length: 36mm (1.42in)
# Width:  36mm (1.42in)
# Mounting holes: 31.5mm x 31.5mm 4mm grommeted mounting holes for 3mm fasteners
# M10064C - Initial Release
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# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1017

# crystal frequency
OSCILLATOR_HZ 24000000

FLASH_SIZE_KB 2048

# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2

# start on 2th sector (1st sector for bootloader)
FLASH_RESERVE_START_KB 128

# use FRAM for storage
define HAL_STORAGE_SIZE 16384
define HAL_WITH_RAMTRON 1

# USB setup
USB_STRING_MANUFACTURER "mRo"

# RC Input set for Interrupt also USART6_RX for serial RC
PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW

# Control of Spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
define HAL_GPIO_SPEKTRUM_PWR 70

# Spektrum Power is Active Low
define HAL_SPEKTRUM_PWR_ENABLED 0

# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71

# Order of I2C buses
I2C_ORDER I2C1

# this board only has a single I2C bus so make it external
define HAL_I2C_INTERNAL_MASK 0

# order of UARTs (and USB) and suggested usage
# USART2 Telem 1 (Flow Control)
# USART3 Telem 2 (Flow Control)
# UART4 GPS
# UART8 FRSKY Telem
# USART1 Additional UART
# UART7 Additional UART

# USART6 RC input (Only RX pin is connected)

SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7 OTG2

# default the 2nd interface to MAVLink2
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2

# Another USART, this one for telem1. This one has RTS and CTS lines.
# USART2 telem1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# The telem2 USART, this one for telem2. This one has RTS and CTS lines.
# USART3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3

# UART4 GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# USART1 Spare
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# UART7 Spare or Debug Console
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# UART8 FrSky Telemetry
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# RSSI Analog Input
PC1 RSSI_IN ADC1

# Analog current and voltage sense pins.
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)

# Now the VDD sense pin. This is used to sense primary board voltage.
PA4 VDD_5V_SENS ADC1 SCALE(2)

#SPI1 ICM_20602 / ICM_20948
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

#SPI2 FRAM / DPS310
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

#SPI5 BMI088
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5

#SPI6 EXTERNAL
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6

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

# This input pin is used to detect that power is valid on USB.
PC0 VBUS_VALID INPUT

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

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

# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM

# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# Now setup the pins for the microSD card, if available.
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1

# More CS pins for more sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PC2 ICM_20602_CS CS
PD7 BARO_CS CS
PD10 FRAM_CS CS SPEED_VERYLOW
PE15 ICM_20948_CS CS
PF10 BMI088_GYRO_CS CS
PF6 BMI088_ACCEL_CS CS
PG9 EXT_SPI_CS CS

# the first CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

PF11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)

# This defines the pins for the 2nd CAN interface, OEM Only.
PB13 CAN2_TX CAN2
PB12 CAN2_RX CAN2

PF14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(73)

# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
# outputs on the primary MCU are setup as PWM and how many as
# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
# starting at 50.
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PI5  TIM8_CH1 TIM8 PWM(7) GPIO(56)
PI6  TIM8_CH2 TIM8 PWM(8) GPIO(57)

define BOARD_PWM_COUNT_DEFAULT 8

# This is the invensense data-ready pin. We don't use it in the
# default driver.
PD15 MPU_DRDY INPUT

# This is the pin to enable the sensors rail. It can be used to power
# cycle sensors to recover them in case there are problems with power on
# timing affecting sensor stability. We pull it high by default.
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH

# 1.8V Sensor Level Shifter Output Enable. We pull it high by default.
PI3 VDD_1V8_SENSORS_EN OUTPUT HIGH

# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v
PG6 PWM_VOLT_SEL OUTPUT LOW GPIO(74)
define HAL_GPIO_PWM_VOLT_PIN 74
define HAL_GPIO_PWM_VOLT_3v3 0

# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp.
PB5 VDD_BRICK_VALID INPUT PULLUP

SPIDEV icm20948 SPI1 DEVID1  ICM_20948_CS    MODE3  2*MHZ  4*MHZ
SPIDEV icm20608 SPI1 DEVID2  ICM_20602_CS    MODE3  2*MHZ  8*MHZ
SPIDEV dps310   SPI2 DEVID3  BARO_CS         MODE3  5*MHZ  5*MHZ
SPIDEV ramtron  SPI2 DEVID10 FRAM_CS         MODE3  8*MHZ  8*MHZ
SPIDEV bmi088_g SPI5 DEVID1  BMI088_GYRO_CS  MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI5 DEVID2  BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ

# Now some defines for logging and terrain data files.
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

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

# Now setup the default battery pins driver analog pins and default
# scaling for the power brick.
define HAL_BATT_VOLT_PIN 14
define HAL_BATT_CURR_PIN 15
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

# No hardware safety pin, CAN safety switch only
# define HAL_HAVE_SAFETY_SWITCH 0

# Pixracer Pro has a TriColor LED, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

# LED setup for PixracerLED driver
PB11 LED_R OUTPUT HIGH GPIO(0)
PB1  LED_G OUTPUT HIGH GPIO(1)
PB3  LED_B OUTPUT HIGH GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

# 3 IMUs
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 7

# 1 baro
BARO DPS280  SPI:dps310

# 1 compass
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES