# hw definition file for processing by chibios_hwdef.py for MFT-SEMA100

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 2000

FLASH_SIZE_KB 2048

# 
env OPTIMIZE -Os

# ChibiOS system timer
STM32_ST_USE_TIMER 2

USB__STRING_MANUFACTURER "MFT"
USB_STRING_PRODUCT "MFT-SEMA100"

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

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

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

# Port switching for USB HS and FS,high = USB_FS , LOW = USB_HS
PH15 USB_HS_ENABLE OUTPUT HIGH
define USB_HW_ENABLE_HS 0

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

# SPI1 - SD CARD
PB3 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1
PA15 SDCARD_CS CS
PC4 SDCARD_DETECT INPUT

# SPI2 - External 
PD3 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2


# SPI4 - GYRO
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# sensor
PE3  BMI088_A_CS CS
PE4  BMI088_G_CS CS


# I2C buses


#I2C1 is External
PB8 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# I2C2 for onboard mag
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# I2C3 for onboard BAROMETER
PA8 I2C3_SCL I2C3
PC9 I2C3_SDA I2C3

# I2C4 is External
PD12 I2C4_SCL I2C4
PD13 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C2 I2C3 I2C4 I2C1


define HAL_I2C_INTERNAL_MASK 1

# drdy pins
PE11  DRDY1_LIS3MDL INPUT


# UARTs
#USART1 TX RX 1
PA10 USART1_RX USART1 
PA9 USART1_TX USART1 

# USART2 is TX RX 2
PD6 USART2_RX USART2 
PD5 USART2_TX USART2 

# USART3 is TX RX 3
PD9 USART3_RX USART3 NODMA
PD8 USART3_TX USART3 NODMA

# UART5 is TX RX 4
PD2 UART5_RX UART5 NODMA
PC12 UART5_TX UART5 NODMA

# UART7 is TX RX 5
PE7 UART7_RX UART7 
PE8 UART7_TX UART7 
PE10 UART7_CTS UART7
PE9 UART7_RTS UART7


# SBUS, DSM port
PE0 UART8_RX UART8 
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN



# PWM AUX channels
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50) 
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51) 
PC7 TIM8_CH2 TIM8 PWM(3) GPIO(52) 
PC8 TIM8_CH3 TIM8 PWM(4) GPIO(53) 
PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) 
PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55) 
PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56) 
PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57) 

PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) 
PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59) 
PA6 TIM3_CH1  TIM3  PWM(11) GPIO(60) 
PA7 TIM3_CH2  TIM3  PWM(12) GPIO(61) 


# allow for 14 PWMs by default

# PWM output for buzzer
PB15 TIM12_CH2 TIM12 GPIO(77) ALARM


# analog in
PA5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC5 BATT_CURRENT_SENS ADC1 SCALE(1)


define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 19
define HAL_BATT_VOLT_SCALE 10

#define HAL_BATT2_VOLT_PIN 15 
#define HAL_BATT2_VOLT_SCALE 9

define HAL_BATT_CURR_PIN 8
define HAL_BATT_CURR_SCALE 10



# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# 2nd CAN bus
PB5 CAN2_RX CAN2
PB6 CAN2_TX CAN2

# control for silent (no output) for CAN
PD4 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
PD11 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)

# GPIOs

PD10 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1


#BARO
BARO BMP388 I2C:1:0x77

# SPI devices
SPIDEV bmi088_a       SPI4 DEVID1  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
SPIDEV bmi088_g       SPI4 DEVID2  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
SPIDEV sdcard         SPI1 DEVID1  SDCARD_CS       MODE0  400*KHZ 25*MHZ


# IMU
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270

define HAL_DEFAULT_INS_FAST_SAMPLE 7

# compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS LIS3MDL I2C:ALL_INTERNAL:0x1C false ROTATION_NONE


#LEDs
PC13 LED_BOOTLOADER OUTPUT HIGH GPIO(0)
PC6 LED_ACTIVITY OUTPUT LOW GPIO(1) # optional

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1

#STORAGE 
STORAGE_FLASH_PAGE 14
define HAL_STORAGE_SIZE 32768

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

DMA_PRIORITY ADC* SPI4* TIM*UP*
DMA_NOSHARE  SPI4* TIM*UP*

define DEFAULT_NTF_LED_TYPES 743