# hw definition file for processing by chibios_hwdef.py
# for H757

# MCU class and specific type
MCU STM32H7xx STM32H757xx

define CORE_CM7
define SMPS_PWR

FLASH_SIZE_KB 2048
APJ_BOARD_ID 1043


# the location where the bootloader will put the firmware
# the H757 has 128k sectors
FLASH_BOOTLOADER_LOAD_KB 256
FLASH_RESERVE_START_KB 256

# use last 2 pages for flash storage
# H757 has 16 pages of 128k each
STORAGE_FLASH_PAGE 14
define HAL_STORAGE_SIZE 32768


# crystal frequency
OSCILLATOR_HZ 24000000

CANFD_SUPPORTED 8

STDOUT_SERIAL SD6
STDOUT_BAUDRATE 57600

PC6 USART6_TX USART6

PB6 USART1_TX  USART1 GPIO(7)
PB7 USART1_RX  USART1 GPIO(8)

PD5 USART2_TX USART2 GPIO(9)
PD6 USART2_RX USART2 GPIO(10)

PA11 UART4_RX UART4
PA12 UART4_TX UART4

define GPIO_USART1_TX 7
define GPIO_USART1_RX 8
define GPIO_USART2_TX 9
define GPIO_USART2_RX 10

PE0 UART8_RX UART8
PE1 UART8_TX UART8

SERIAL_ORDER USART1 UART4 UART8 USART2

define DRONEID_MODULE_PORT 2
define DRONEID_MODULE_CHAN MAVLINK_COMM_0

define AP_UART_MONITOR_ENABLED 1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD


# RCInput
PB15 TIM12_CH2 TIM12 RCININT PULLDOWN LOW

# RCOutput
PE9  TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) # shared with channel 1
PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) # shared with channel 3
PC7  TIM3_CH2 TIM3 PWM(5) GPIO(54) BIDIR
PC8  TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR
PC9  TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR
PA3  TIM2_CH4 TIM2 PWM(8) GPIO(57) BIDIR

# enable CAN support
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PD2 SLEEPCAN1 OUTPUT PUSHPULL SPEED_LOW LOW
PD3 TERMCAN1 OUTPUT HIGH GPIO(3)

PE7 UART7_RX UART7
PE8 UART7_TX UART7

PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW LOW
PB11 TERMCAN2 OUTPUT HIGH GPIO(4)

define AP_OPENDRONEID_ENABLED 1

PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB2 SPI3_MOSI SPI3
PB1 MAG_CS CS

SPIDEV rm3100 SPI3 DEVID1    MAG_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
define AP_RM3100_REVERSAL_MASK 4

# HOTSHOE pin repurposed for BATT Voltage Sens
PA1 BATT_VOLTAGE_SENS ADC1 SCALE(1)

PA8 ICM_CS CS
PA9 BARO_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
SPIDEV icm42688       SPI1 DEVID4  ICM_CS       MODE3  2*MHZ  8*MHZ
SPIDEV ms5611         SPI1 DEVID3  BARO_CS      MODE3 20*MHZ 20*MHZ

BARO MS56XX SPI:ms5611

IMU Invensensev3 SPI:icm42688 ROTATION_YAW_270

define HAL_DEFAULT_INS_FAST_SAMPLE 5

# WS2812 LED
PB8 TIM4_CH3 TIM4 PWM(9)
PB9 TIM4_CH4 TIM4 PWM(10)

PD11 GPS_TP1 OUTPUT LOW GPIO(5)
PD7  GPS_PPS INPUT PULLUP GPIO(6)
define CONFIGURE_PPS_PIN TRUE
define HAL_GPIO_PPS 6

PD12 GPS_SAFEBOOT_N INPUT FLOATING GPIO(11)
define GPIO_UBX_SAFEBOOT 11
PD13 GPS_RESET_N INPUT FLOATING GPIO(12)
define GPIO_UBX_RESET 12
define HAL_EARLY_WATCHDOG_INIT