# hw definition file for processing by chibios_hwdef.py
#following exapmle: 
#https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroH7/hwdef.dat#L105
# for H743 bootloader

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 5200

# the nucleo seems to have trouble with flashing the last sector?
FLASH_SIZE_KB 2048

# This is the STM32 timer that ChibiOS will use for the low level
# driver. This must be a 32 bit timer. We currently only support
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details.

# ChibiOS system timer
STM32_ST_USE_TIMER 5

#optimize for space
env OPTIMIZE -Os

FLASH_RESERVE_START_KB 128

define HAL_STORAGE_SIZE 32768

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

# (---FUTURE REVISION---): PA0 AS VDD_SENSE_PIN
PA0 VDD_5V_SENS ADC1 SCALE(2)

# order of I2C buses
I2C_ORDER I2C1

# I2C1 (SE_CONNECTOR)
PB8 I2C1_SCL I2C1 PULLUP
PB7 I2C1_SDA I2C1 PULLUP

# USB setup
USB_STRING_MANUFACTURER "Airvolute"

# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA9 VBUS INPUT OPENDRAIN

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# (---FUTURE REVISION---): PWM output for buzzer 
PB15 TIM12_CH2 TIM12 GPIO(80) ALARM

# (---FUTURE REVISION---): RC Input set for Interrupt not DMA
PA6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW

# UART SETUP
# USART1 (SE_CONNECTOR)
PB14 USART1_TX USART1
PA10 USART1_RX USART1

# USART2 (SE_CONNECTOR)
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 (RC INPUT)
PD9 USART3_RX USART3

#LED RED
PB1 LED1 OUTPUT HIGH
#LED GREEN
PA3 FMU_LED_AMBER OUTPUT LOW GPIO(0)

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

# CS pins for SPI sensors. The labels for all CS pins need to
# match the SPI device table later in this file.
PD12 BMI088_ACC_CS CS
PE13 BMI088_GYRO_CS CS
PD13 BMP390_CS CS
PD15 EXT_0_CS CS
PD14 EXT_1_CS CS
PD11 EXT_2_CS CS
PD10 EXT_3_CS CS

# CAN Busses
PD0 CAN1_RX CAN1
PB9 CAN1_TX CAN1

# CAN1 Silent Pin LOW Enable
PC7 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)

PB5 CAN2_RX CAN2
PB6 CAN2_TX CAN2

# CAN2 Silent Pin LOW Enable
PC6 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)

# Ethernet
PC1  ETH_MDC            ETH1
PA2  ETH_MDIO           ETH1
PC4  ETH_RMII_RXD0      ETH1
PC5  ETH_RMII_RXD1      ETH1
PB12 ETH_RMII_TXD0      ETH1
PB13 ETH_RMII_TXD1      ETH1
PB11 ETH_RMII_TX_EN     ETH1
PA7  ETH_RMII_CRS_DV    ETH1
PA1  ETH_RMII_REF_CLK   ETH1

define BOARD_PHY_RMII
define BOARD_PHY_ADDRESS 0x0000
define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX
define HAL_PERIPH_ENABLE_NETWORKING

#PWM outputs
PB3  TIM2_CH2 TIM2 PWM(1) GPIO(50) BIDIR
PB10 TIM2_CH3 TIM2 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)

# BMI088_DRDY
PE12 BMI088_DRDY INPUT

# (---FUTURE REVISION---) EXT IMU DRDY
PD1 EXT_IMU_DRDY INPUT

# SPI1 (ONBOARD SENSORS)
PA5 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1

# SPI4 (EXTERNAL SENSORS)
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# SPI devices
SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3  10*MHZ  10*MHZ
SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACC_CS     MODE3  10*MHZ  10*MHZ
SPIDEV bmp390      SPI1 DEVID3  BMP390_CS         MODE3  5*MHZ  5*MHZ
SPIDEV icm42688_ext  SPI4 DEVID4  EXT_0_CS        MODE3  5*MHZ  5*MHZ
SPIDEV lis3mdl       SPI4 DEVID5  EXT_1_CS        MODE3  5*MHZ  5*MHZ

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

# IMUs
IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
IMU Invensense   SPI:icm42688_ext ROTATION_NONE

# 1 baro
define HAL_BARO_ALLOW_INIT_NO_BARO 1
BARO BMP388      SPI:bmp390

define ALLOW_ARM_NO_COMPASS

define HAL_PROBE_EXTERNAL_I2C_COMPASSES