# hw definition file for processing by chibios_hwdef.py for A6_YJUAV

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 1113

FLASH_SIZE_KB 2048

# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

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

# now we define the pins that USB is connected on
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1 TELEM1
PA10 USART1_RX USART1
PA9 USART1_TX USART1

# USART2 TELEM2
PD6 USART2_RX USART2
PD5 USART2_TX USART2

# USART3 GPS
PD9 USART3_RX USART3 NODMA
PD8 USART3_TX USART3 NODMA

# UART5 GPS2
PB5 UART5_RX UART5 NODMA
PB13 UART5_TX UART5 NODMA

# SBUS, DSM port
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# UART7 DEBUG
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 -IMU1 -COMPASS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1

# SPI2 -IMU2 -IMU3
PD3 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI4 -FRAM -BAROMETER
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# SPI3 -Extra SPI
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB2 SPI3_MOSI SPI3

# sensors cs
PA8  IMU1_CS CS
PD4  IMU2_CS CS
PD11 IMU3_CS CS
PE4  FRAM_CS CS
PE3  BAROMETER_CS CS
PD10 COMPASS_CS CS
PC15 RESERVE_CS CS

# Extra SPI CS
PE10 EXT_CS CS

# I2C buses
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

PD12 I2C4_SCL I2C4
PD13 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C2 I2C4

NODMA I2C*
define STM32_I2C_USE_DMA FALSE
define HAL_I2C_INTERNAL_MASK 0

# PWM channels
PE9  TIM1_CH1  TIM1 PWM(1)  GPIO(50)    BIDIR
PE11 TIM1_CH2  TIM1 PWM(2)  GPIO(51)
PE13 TIM1_CH3  TIM1 PWM(3)  GPIO(52)    BIDIR
PE14 TIM1_CH4  TIM1 PWM(4)  GPIO(53)
PA15 TIM2_CH1  TIM2 PWM(5)  GPIO(54)    BIDIR
PA1  TIM2_CH2  TIM2 PWM(6)  GPIO(55)
PA2  TIM2_CH3  TIM2 PWM(7)  GPIO(56)    BIDIR
PA3  TIM2_CH4  TIM2 PWM(8)  GPIO(57)
PC6  TIM3_CH1  TIM3 PWM(9)  GPIO(58)
PA7  TIM3_CH2  TIM3 PWM(10) GPIO(59)
PB0  TIM3_CH3  TIM3 PWM(11) GPIO(60)
PB1  TIM3_CH4  TIM3 PWM(12) GPIO(61)
PD14 TIM4_CH3  TIM4 PWM(13) GPIO(62)    NODMA
PD15 TIM4_CH4  TIM4 PWM(14) GPIO(63)    NODMA

# PWM output for buzzer
PB14 TIM12_CH1 TIM12 GPIO(77) ALARM

# RC input
PC7 TIM8_CH2 TIM8 RCININT PULLUP LOW

# Analog in
PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)

# ADC3.3/ADC6.6
PC4 SPARE1_ADC1 ADC1 SCALE(1)
PC5 SPARE2_ADC1 ADC1 SCALE(2)

PC3 VDD_5V_SENS ADC1 SCALE(2)
PA4 RSSI_IN ADC1 SCALE(1)

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

PB12 CAN2_RX CAN2
PB6  CAN2_TX CAN2

# GPIOs
PC14 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1

# enable pins
PC13 VDD_3V3_SENSORS_EN OUTPUT LOW

# red LED marked as B/E
PE12 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
PE15 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1)
PB9  LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

# use pixracer style 3-LED indicators
define HAL_HAVE_PIXRACER_LED

# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1
PB8 LED_SAFETY OUTPUT
PB7 SAFETY_IN INPUT PULLDOWN

# SPI devices 
SPIDEV imu1	        SPI1 DEVID1  IMU1_CS         MODE3  2*MHZ  8*MHZ
SPIDEV imu2	        SPI2 DEVID1  IMU2_CS         MODE3  2*MHZ  8*MHZ
SPIDEV imu3         SPI2 DEVID2  IMU3_CS         MODE3  2*MHZ  8*MHZ
SPIDEV ramtron      SPI4 DEVID1  FRAM_CS         MODE3  8*MHZ  8*MHZ
SPIDEV dps310       SPI4 DEVID2  BAROMETER_CS    MODE3  5*MHZ  5*MHZ
SPIDEV bmp388       SPI4 DEVID3  BAROMETER_CS    MODE3  5*MHZ  5*MHZ
SPIDEV rm3100       SPI1 DEVID2  COMPASS_CS      MODE3  1*MHZ  1*MHZ

# IMU1
IMU Invensense SPI:imu1 ROTATION_PITCH_180_YAW_90
IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90

# IMU2
IMU Invensense SPI:imu2 ROTATION_PITCH_180_YAW_90
IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_90

# IMU3
IMU Invensense SPI:imu3 ROTATION_YAW_90
IMU Invensensev3 SPI:imu3   ROTATION_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 5

# baro dps310 or bmp388
BARO DPS310 SPI:dps310
BARO BMP388 SPI:bmp388

# compasses rm3100
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90

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

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

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1

DMA_PRIORITY  SPI1* SPI2* TIM*UP*
DMA_NOSHARE  SPI1* SPI2* TIM*UP*

# Enable Sagetech MXS ADSB transponder
define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED