# hw definition file for processing by chibios_hwdef.py

DEFAULTGPIO OUTPUT LOW PULLDOWN

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# crystal frequency
OSCILLATOR_HZ 16000000

# board ID for firmware load
APJ_BOARD_ID 1123

FLASH_SIZE_KB 2048

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

# bootloader takes first sector
FLASH_RESERVE_START_KB 128

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 EMPTY USART1 UART4 EMPTY UART7 OTG2

# default the 2nd interface to MAVLink2
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

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

# SPI1 - internal sensors
PG11 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1

# SPI2 - FRAM
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2

# SPI4 - sensors2
PE2 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# sensor CS
PF10 MS5611_CS CS
PF2  ICM20689_CS CS
PF4  BMI088_G_CS CS
PG10 BMI088_A_CS CS
PF5  FRAM_CS CS SPEED_VERYLOW

# I2C buses

# I2C1 is on GPS port
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# I2C on uart4 connector
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2

# I2C for onboard mag
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3

# I2C4 is on external2
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4

# order of I2C buses
I2C_ORDER I2C3 I2C1 I2C2 I2C4

define HAL_I2C_INTERNAL_MASK 1

# enable pins
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH

# drdy pins
PB4  DRDY_ICM20689 INPUT
PB14 DRDY_BMI088_GYRO INPUT
PB15 DRDY_BMI088_ACC INPUT

PD15 DRDY7_EXTERNAL INPUT

# UARTs

# USART2 is telem1
PD6 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2

# USART1 is GPS1
PB7 USART1_RX USART1 NODMA
PB6 USART1_TX USART1 NODMA

# UART4 GPS2
PD0 UART4_RX UART4 NODMA
PD1 UART4_TX UART4 NODMA

# UART7 is debug
PF6 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# UART8 is for IOMCU
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# UART for IOMCU
IOMCU_UART UART8

# PWM AUX channels
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)

# PWM output for buzzer
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM

# analog in
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)

PC0 VDD_5V_SENS ADC1 SCALE(2)
PC1 SCALED_V3V3 ADC1 SCALE(2)

# voltage divider 1/(16.9/(33+16.9))
define HAL_IOMCU_VSERVO_SCALAR 1 / (16.9 / (33 + 16.9))

# CAN bus
PI9  CAN1_RX CAN1
PH13 CAN1_TX CAN1

PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)

# GPIOs
PA7 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80

define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45

PH5 AUX_CS CS

PG1 VDD_BRICK_nVALID INPUT PULLUP
PG2 VDD_BRICK2_nVALID INPUT PULLUP
PA9 VBUS INPUT
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
PB10 nSPI5_RESET_EXTERNAL OUTPUT HIGH

# SPI devices
SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
SPIDEV icm20689       SPI1 DEVID1  ICM20689_CS  MODE3  2*MHZ  8*MHZ
SPIDEV bmi088_g       SPI1 DEVID3  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a       SPI1 DEVID4  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 

# Two IMUs
IMU Invensense SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 3

# 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

# red LED
PB1 LED_RED OUTPUT GPIO(90)

# green LED
PC6 LED_GREEN OUTPUT GPIO(91) LOW

# blue LED
PC7 LED_BLUE OUTPUT GPIO(92) HIGH

# setup for 2 LEDs
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 92
define HAL_GPIO_LED_ON 0

# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1

# safety switch pin
PE10 LED_SAFETY OUTPUT
PE12 SAFETY_IN INPUT PULLDOWN
define HAL_HAVE_SAFETY_SWITCH 1

# one baro
BARO MS56XX SPI:ms5611

# one builtin compass, plus one on the default GPS that is external with
# a non-default orientation
COMPASS IST8310 I2C:0:0x0e false ROTATION_PITCH_180_YAW_270

define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_270

# compensate for magnetic field generated by the heater on the internal IST8310
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0x0a),Vector3f(15,35,-6)}

# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

define HAL_COMPASS_AUTO_ROT_DEFAULT 2

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

# don't share IOMCU DMA
DMA_NOSHARE UART8* SPI1* TIM*UP*

DMA_PRIORITY UART8* ADC* SPI1*

# battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 16
define HAL_BATT_CURR_PIN 17
define HAL_BATT_VOLT_SCALE 18.182
define HAL_BATT_CURR_SCALE 36.364

ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin