# hw definition file for processing by chibios_hwdef.py for YJUAV_A6Ultra

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 1144

env OPTIMIZE -O2

# ChibiOS system timer
STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 2048

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

# 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
PD8 USART3_TX USART3

# USART1 GPS2
PB7 USART1_RX USART1
PA9 USART1_TX USART1

# 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 
PA5 SPI6_SCK SPI6 
PA6 SPI6_MISO SPI6
PA7 SPI6_MOSI SPI6

# SPI5 -IMU3
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
PF3  IMU2_CS CS
PF4  IMU3_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)
PH6   TIM12_CH1 TIM12 PWM(12) GPIO(61) NODMA
PH9   TIM12_CH2 TIM12 PWM(13) GPIO(62) NODMA

# 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)

PA0 BATT2_CURRENT_SENS ADC1 SCALE(1)
PC2 BATT2_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

# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 4
define HAL_BATT_VOLT_SCALE 21
define HAL_BATT_CURR_SCALE 34.6

# batt2 default disable
define HAL_BATT2_VOLT_PIN 12
define HAL_BATT2_CURR_PIN 16
define HAL_BATT2_VOLT_SCALE 21
define HAL_BATT2_CURR_SCALE 34.6

#analog rssi pin (also could be used as analog airspeed input)
# PC1
define BOARD_RSSI_ANA_PIN 11

# 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	        SPI6 DEVID1  IMU1_CS         MODE3  2*MHZ  8*MHZ
SPIDEV imu2	        SPI6 DEVID2  IMU2_CS         MODE3  2*MHZ  8*MHZ
SPIDEV imu3	        SPI1 DEVID1  IMU3_CS         MODE3  2*MHZ  8*MHZ
SPIDEV dps310_1     SPI1 DEVID2  BAROMETER1_CS   MODE3  5*MHZ  5*MHZ
SPIDEV dps310_2     SPI5 DEVID1  BAROMETER2_CS   MODE3  5*MHZ  5*MHZ
SPIDEV ramtron      SPI5 DEVID2  FRAM_CS         MODE3  8*MHZ  8*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

# IMU3
IMU Invensense SPI:imu3 ROTATION_NONE
IMU Invensensev3 SPI:imu3 ROTATION_NONE

define HAL_DEFAULT_INS_FAST_SAMPLE 3

# baro
BARO DPS310 SPI:dps310_1
BARO DPS310 SPI:dps310_2

# 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

# 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

DMA_PRIORITY SPI1* SPI6* TIM*UP*
DMA_NOSHARE  SPI1* SPI6* TIM*UP*