# hw definition file for processing by chibios_hwdef.py
# for FLYWOOH743 hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID AP_HW_FlywooH743Pro

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

MCU_CLOCKRATE_MHZ 480

FLASH_SIZE_KB 2048

# bootloader takes first sector
FLASH_RESERVE_START_KB 384

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1

STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# SPI devices

# SPI1 (IMU1)
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1

# SPI2 (OSD)
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI3 (External)
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3

# SPI4 (IMU2)
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4

# Chip select pins
PB12 OSD1_CS CS
PC15 GYRO1_CS CS
PE11 GYRO2_CS CS

# Beeper
PA15 TIM2_CH1 TIM2 GPIO(32) ALARM

# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1
PA10 USART1_RX USART1
PA9 USART1_TX USART1

# USART2 (RX)
PD5 USART2_TX USART2
PD6 USART2_RX USART2
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN

# USART3
PD8 USART3_TX USART3 NODMA
PD9 USART3_RX USART3 NODMA
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None

# UART4 (GPS1)
PB8 UART4_RX UART4
PB9 UART4_TX UART4
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS

# USART6
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry

# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# UART8 (DJI/MSP)
PE0 UART8_RX UART8
PE1 UART8_TX UART8
define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_MSP_DisplayPort

# I2C ports
I2C_ORDER I2C1 I2C2
# I2C1
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

BARO SPL06 I2C:1:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_SPL06_ENABLED 1

# ADC ports

# ADC1
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_VOLT_SCALE 11.0
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 40.0
PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 8
define HAL_BATT_MONITOR_DEFAULT 4
PC4 PRESSURE_SENS ADC1 SCALE(2)
define HAL_DEFAULT_AIRSPEED_PIN 4

# MOTORS
PB0  TIM3_CH3  TIM3  PWM(1)  GPIO(50) BIDIR # M1
PB1  TIM3_CH4  TIM3  PWM(2)  GPIO(51)       # M2
PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52) BIDIR # M3
PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)       # M4
PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54) BIDIR # M5
PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)       # M6
PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56) BIDIR # M7
PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)       # M8
PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) BIDIR # S9
PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59)       # S10
PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA # S11
PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA # S12

# LEDs
PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # S13

# VTX Power control - should be high at startup to ensure power
PD10 VTX_PWR OUTPUT HIGH GPIO(81)
define RELAY2_PIN_DEFAULT 81

# Camera switch control - should be high at startup to ensure Camera 1 selected
PD11 CAM_CTRL OUTPUT HIGH GPIO(82)
define RELAY3_PIN_DEFAULT 82

PE3 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90

PE4 LED1 OUTPUT LOW GPIO(91)
define HAL_GPIO_B_LED_PIN 91

define AP_NOTIFY_GPIO_LED_2_ENABLED 1

# OSD setup
SPIDEV osd SPI2 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# IMU setup

# IMU setup
SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   16*MHZ
SPIDEV imu2   SPI4 DEVID1 GYRO2_CS   MODE3   1*MHZ   16*MHZ

PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1

define HAL_OS_FATFS_IO 1

IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_90

DMA_NOSHARE TIM3_UP TIM5_UP TIM4_UP SPI1* SPI4*
DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1* SPI4*

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define HAL_DEFAULT_INS_FAST_SAMPLE 3
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12