# hw definition file for processing by chibios_pins.py
# for Holybro KakuteH7-WING

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 1105

# crystal frequency, setup to use external oscillator (16Mhz)
OSCILLATOR_HZ 16000000

FLASH_SIZE_KB 2048
env OPTIMIZE -Os

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

# ChibiOS system timer
STM32_ST_USE_TIMER 12
define CH_CFG_ST_RESOLUTION 16

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for IMU1 (BMI088)
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PC8 BMI088_A_CS CS
PC9 BMI088_G_CS CS
PD11 DRDY1_BMI088_ACC INPUT
PD10 DRDY2_BMI088_GYRO INPUT

# SPI2 for MAX7456 OSD
PB12 MAX7456_CS CS
PD3 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2

#SPI3 for IMU1 (ICM42688)
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
PE12 ICM42688_CS CS
PE15 DRDY1_ICM42688 INPUT

# three I2C bus
I2C_ORDER I2C4 I2C1 I2C2

# I2C4 (BMP280 BARO)
PD12 I2C4_SCL I2C4
PD13 I2C4_SDA I2C4

# I2C1
PB8 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# ADC
PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
PA3 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
PA2 BATT2_CURRENT_SENS ADC1 SCALE(1)

define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 8
define HAL_BATT_CURR_PIN 4
define HAL_BATT2_VOLT_PIN 15
define HAL_BATT2_CURR_PIN 14
define HAL_BATT_VOLT_SCALE 18.18
define HAL_BATT_CURR_SCALE 36.6
define HAL_BATT2_VOLT_SCALE 11.0

PC0 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 10

# LED
# green LED1 marked as B/E
# blue LED0 marked as ACT
PC15 LED0 OUTPUT LOW GPIO(90) # blue
PC14 LED1 OUTPUT LOW GPIO(91) # red
define HAL_GPIO_A_LED_PIN 91
define HAL_GPIO_B_LED_PIN 90
define HAL_GPIO_LED_OFF 1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7 USART2 USART1 USART3 UART5 USART6 UART8 OTG2

# USART1 (GPS1, SERIAL3)
PA10 USART1_RX USART1
PB6  USART1_TX USART1


# USART2 (TELEM2, SERIAL2)
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 (GPS2, SERIAL4)
PD9 USART3_RX USART3
PD8 USART3_TX USART3

# UART5 (USER, SERIAL5)
PB13 UART5_TX UART5
PD2 UART5_RX UART5

# USART6 (RC input), SERIAL6
PC7 TIM8_CH2 TIM8 RCININT PULLDOWN LOW
PC6 USART6_TX USART6 NODMA

# as an alternative config setup the RX6 pin as a uart. This allows
# for bi-directional UART based receiver protocols such as FPort
# without any extra hardware
PC7 USART6_RX USART6 NODMA ALT(1)

# UART7 (TELEM1, SERIAL1)
PE7  UART7_RX UART7
PE8  UART7_TX UART7
PE10 UART7_CTS UART7
PE9  UART7_RTS UART7
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2

# UART8 (USER, SERIAL7)
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# Motors
PA8  TIM1_CH1   TIM1  PWM(1)  GPIO(50) 
PE11 TIM1_CH2   TIM1  PWM(2)  GPIO(51)
PE13 TIM1_CH3   TIM1  PWM(3)  GPIO(52) 
PE14 TIM1_CH4   TIM1  PWM(4)  GPIO(53)
PD14 TIM4_CH3   TIM4  PWM(5)  GPIO(54) BIDIR
PD15 TIM4_CH4   TIM4  PWM(6)  GPIO(55)
PA0  TIM5_CH1   TIM5  PWM(7)  GPIO(56) BIDIR
PA1  TIM5_CH2   TIM5  PWM(8)  GPIO(57)
PE5  TIM15_CH1  TIM15 PWM(9)  GPIO(58)
PE6  TIM15_CH2  TIM15 PWM(10) GPIO(59)
PB5  TIM3_CH2   TIM3  PWM(11) GPIO(60) NODMA
PB0  TIM3_CH3   TIM3  PWM(12) GPIO(61) NODMA
PB1  TIM3_CH4   TIM3  PWM(13) GPIO(62) NODMA
PA15 TIM2_CH1   TIM2  PWM(14) GPIO(63) NODMA

# Beeper
#PB9 TIM17_CH1 TIM17 GPIO(77) ALARM
PB9 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80

# microSD support
PB14 SDMMC2_D0  SDMMC2
PB15 SDMMC2_D1  SDMMC2
PB3  SDMMC2_D2  SDMMC2
PB4  SDMMC2_D3  SDMMC2
PC1  SDMMC2_CK  SDMMC2
PD7  SDMMC2_CMD SDMMC2
define FATFS_HAL_DEVICE SDCD2

# GPIOs  81:CAM SELECT,82:9V SWITCH,83: USER1,84:USER2
PC13  PINIO1 OUTPUT GPIO(81) LOW
PE3   PINIO2 OUTPUT GPIO(82) HIGH
PD4   PINIO3 OUTPUT GPIO(83) LOW
PE4   PINIO4 OUTPUT GPIO(84) LOW

#Power Control and Status
PA9 VBUS_VALID INPUT
PB2 VDD_3V3_SENSORS_EN OUTPUT HIGH
PA4 VDD_5V_SENS  ADC1 SCALE(2)
PE2 VDD_BRICK_nVALID INPUT FLOAT

define HAL_STORAGE_SIZE 32768

# use last 2 pages for flash storage
# H743 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14

# spi devices
SPIDEV bmi088_a       SPI1 DEVID1  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
SPIDEV bmi088_g       SPI1 DEVID2  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
SPIDEV icm42688       SPI3 DEVID1  ICM42688_CS     MODE3  2*MHZ  8*MHZ
SPIDEV osd            SPI2 DEVID3  MAX7456_CS      MODE0 10*MHZ 10*MHZ

DMA_NOSHARE SPI1* SPI3* TIM4* TIM5*

# 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 1
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

# One IMU (orientation needs to be determined)
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270

# BMP280 integrated on I2C4 bus
BARO BMP280 I2C:0:0x76

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

NODMA I2C*
define STM32_I2C_USE_DMA FALSE