# 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

# crystal frequency
OSCILLATOR_HZ 24000000

# board ID for firmware load
APJ_BOARD_ID 1070

FLASH_SIZE_KB 2048

# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 128

# the location where the bootloader will put the firmware
# the H743 has 128k sectors
FLASH_BOOTLOADER_LOAD_KB 128

define HAL_LED_ON 0

# supports upto 8MBits/s
CANFD_SUPPORTED 8


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

# ADC setup
PF11 FMU_SERVORAIL_VCC_SENS ADC1
PA6 RSSI_IN  ADC1 SCALE(2)

# CAN config
PB14 GPIOCAN2_TERM OUTPUT HIGH


PA12 CAN1_TX CAN1
PB8 CAN1_RX CAN1

PB6 CAN2_TX CAN2
PB5 CAN2_RX CAN2

# SPI2
PB12 ICM_CS CS
PC1 SPI2_MOSI SPI2
PC2 SPI2_MISO SPI2
PB13 SPI2_SCK SPI2

# SPI4
PE4 BARO_CS CS
PE6 SPI4_MOSI SPI4
PE5 SPI4_MISO SPI4
PE2 SPI4_SCK SPI4

# Sensors
SPIDEV icm42688       SPI2 DEVID1  ICM_CS      MODE3  2*MHZ  8*MHZ
SPIDEV ms5611         SPI4 DEVID2  BARO_CS     MODE3 20*MHZ 20*MHZ

BARO MS56XX SPI:ms5611
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270

CHECK_ICM42688      spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
CHECK_ICM45686      spi_check_register("icm42688", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
CHECK_MS5611        check_ms5611("ms5611")

CHECK_IMU0_PRESENT      $CHECK_ICM42688 || $CHECK_ICM45686
CHECK_BARO0_PRESENT     $CHECK_MS5611

BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT

define HAL_CHIBIOS_ARCH_FMUV3 1

define BOARD_TYPE_DEFAULT 3

# RCIN
PC8  TIM8_CH3 TIM8 RCININT  PULLDOWN

# SWD
PA13    JTMS-SWDIO    SWD
PA14    JTCK-SWCLK    SWD

# GPIO
PD10 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
PE15 VDD_BRICK_nVALID INPUT PULLUP
PG0 VDD_BRICK2_nVALID INPUT PULLUP
PG5 VDD_SERVO_FAULT INPUT PULLUP
PG1 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)

# Control of Spektrum power pin
PB2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
define HAL_GPIO_SPEKTRUM_PWR 73

# Spektrum Power is Active High
define HAL_SPEKTRUM_PWR_ENABLED 1


# Timer
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51)
PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
PA11 TIM1_CH4 TIM1 PWM(4) GPIO(53)
PA5 TIM2_CH1 TIM2 PWM(5) GPIO(54) BIDIR
PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55)
PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR
PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)

# Correctly set Direction of PWMs
# if UNIDIR is set then BIDIR must be reset
PB0 BIDIR_ENABLED OUTPUT LOW GPIO(4)
PA7 HP_UNIDIR_ENABLED OUTPUT HIGH GPIO(5)


# UART connected to FMU, uses DMA
PE7    UART7_RX    UART7 SPEED_HIGH
PE8    UART7_TX    UART7 SPEED_HIGH

# UART for SBUS out
PC7 USART6_RX USART6 SPEED_HIGH LOW
PC6 USART6_TX USART6

# UART for DSM input
# TX side is for IO debug, and is unused
PC10  USART3_TX USART3 SPEED_HIGH
PC11 USART3_RX USART3 SPEED_HIGH

# UART for debug
PE1 UART8_TX UART8
PE0 UART8_RX UART8

# UART for RCIN
PD1 UART4_TX UART4

# USART for future use
PD5 USART2_TX USART2 SPEED_HIGH
PD6 USART2_RX USART2 SPEED_HIGH
PD4 USART2_RTS USART2 SPEED_HIGH
PD3 USART2_CTS USART2 SPEED_HIGH

# order of UARTs
SERIAL_ORDER UART7 UART8 USART3 USART6 UART4 USART2 

# use 2 MBaud when talking to primary controller
define DEFAULT_SERIAL0_BAUD 2000000
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Sbus1
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN

define AP_SCRIPTING_ENABLED 0

# only use pulse input for PPM, other protocols
# are on serial
define HAL_RCIN_PULSE_PPM_ONLY

define MAV_SYSTEM_ID 3