# hw definition file for processing by chibios_hwdef.py
# for the ZeroOneX6 hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 5600

# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0

# the location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 128

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -Os

# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 UART5 USART3

# Pin for PWM Voltage Selection
PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN

# pins for SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# CS pins
PI9 IMU1_CS CS
PH5 ICM42688_CS CS
PI4 BMI088_A_CS CS
PI8 BMI088_G_CS CS
PH15 BMM150_CS CS
PG7  FRAM_CS CS
PI10 EXT1_CS CS

# telem1
PE8 UART7_TX UART7
PF6 UART7_RX UART7

# telem2
PC12 UART5_TX UART5
PD2 UART5_RX UART5

# debug uart
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# armed indication
PE6 nARMED OUTPUT HIGH

# start peripheral power off
PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH

# LEDs
PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
define HAL_LED_ON 0

define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384

# enable DFU by default
ENABLE_DFU_BOOT 1

# support flashing from SD card:
# power enable pins
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH

# FATFS support:
define CH_CFG_USE_MEMCORE 1
define CH_CFG_USE_HEAP 1
define CH_CFG_USE_SEMAPHORES 0
define CH_CFG_USE_MUTEXES 1
define CH_CFG_USE_DYNAMIC 1
define CH_CFG_USE_WAITEXIT 1
define CH_CFG_USE_REGISTRY 1

# microSD support
PD6  SDMMC2_CK SDMMC2
PD7  SDMMC2_CMD SDMMC2
PB14 SDMMC2_D0 SDMMC2
PB15 SDMMC2_D1 SDMMC2
PG11 SDMMC2_D2 SDMMC2
PB4  SDMMC2_D3 SDMMC2
define FATFS_HAL_DEVICE SDCD2

DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*

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

define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1