# hw definition file for processing by chibios_hwdef.py
# for the MicoAir743 hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID AP_HW_MicoAir743

# crystal frequency
OSCILLATOR_HZ 8000000

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# flash size
FLASH_SIZE_KB 2048
FLASH_RESERVE_START_KB 128

define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14

# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN

# order of UARTs (and USB)
SERIAL_ORDER  OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1 - TELEM1
PA9  USART1_TX USART1
PA10 USART1_RX USART1

# USART2 - DJIO3
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# USART3 - GPS
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# UART4 - TELEM2
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# UART6 - RC_INPUT
PC6 USART6_TX USART6
PC7 USART6_RX USART6
PD0 SBUS_INV OUTPUT LOW

# UART7 - ESC
PE7 UART7_RX UART7

# UART8 - TELEM3
PE1 UART8_TX UART8
PE0 UART8_RX UART8

# SWD
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# CAN
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

# two I2C bus
I2C_ORDER I2C2 I2C1

# I2C1 - CONNECTOR
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2 - BARO & MAG
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# PWM output pins
PE14 TIM1_CH4  TIM1  PWM(1)  GPIO(50) BIDIR
PE13 TIM1_CH3  TIM1  PWM(2)  GPIO(51)
PE11 TIM1_CH2  TIM1  PWM(3)  GPIO(52) BIDIR
PE9  TIM1_CH1  TIM1  PWM(4)  GPIO(53)
PB1  TIM3_CH4  TIM3  PWM(5)  GPIO(54) BIDIR
PB0  TIM3_CH3  TIM3  PWM(6)  GPIO(55)
PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56) BIDIR
PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58)
PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59)

# 10 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 10

# LEDs
PE5 LED_RED   OUTPUT LOW GPIO(0)
PE6 LED_GREEN OUTPUT LOW GPIO(1)
PE4 LED_BLUE  OUTPUT LOW GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

define HAL_GPIO_LED_ON 0
define HAL_HAVE_PIXRACER_LED

# ADC for Power
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 21.12
define HAL_BATT_CURR_SCALE 40.2

# compass
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_NONE
COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_90

# barometers
BARO DPS310 I2C:0:0x76

# microSD support
PC12 SDMMC1_CK  SDMMC1
PD2  SDMMC1_CMD SDMMC1
PC8  SDMMC1_D0  SDMMC1
PC9  SDMMC1_D1  SDMMC1
PC10 SDMMC1_D2  SDMMC1
PC11 SDMMC1_D3  SDMMC1
define FATFS_HAL_DEVICE SDCD1

# SPI1 - AT7456E
PA5 SPI1_SCK  SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PB12 AT7456E_CS CS

# SPI2 - IMUs
PD3 SPI2_SCK  SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2
PD5  GYRO_CS    CS
PD4  ACCEL_CS   CS
PA15 BMI270_CS  CS

# SPI devices
SPIDEV bmi088_a      SPI2 DEVID1  ACCEL_CS    MODE3  10*MHZ 10*MHZ
SPIDEV bmi088_g      SPI2 DEVID2  GYRO_CS     MODE3  10*MHZ 10*MHZ
SPIDEV bmi270        SPI2 DEVID3  BMI270_CS   MODE3   1*MHZ 10*MHZ
SPIDEV osd           SPI1 DEVID4  AT7456E_CS  MODE0  10*MHZ 10*MHZ

# 2 IMUs
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180

# enable FAT filesystem support (needs a microSD defined via SDMMC)
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

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

# setup for BF migration
define HAL_FRAME_TYPE_DEFAULT 12