/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define FC_TARGET_MCU STM32H743
#define BOARD_NAME PRINCIPIOTH7PI
#define MANUFACTURER_ID PRIN
#define USB_DETECT_PIN PE2
#define BEEPER_PIN PA15
#define MOTOR1_PIN PA0
#define MOTOR2_PIN PA1
#define MOTOR3_PIN PA2
#define MOTOR4_PIN PA3
#define MOTOR5_PIN PB1
#define MOTOR6_PIN PB0
#define SERVO1_PIN PE5
#define SERVO2_PIN PE6
#define LED_STRIP_PIN PA8
// Debug connector
#define UART2_TX_PIN PD5
#define UART2_RX_PIN PD6
// Telem to Raspberry Pi
#define UART3_TX_PIN PD8
#define UART3_RX_PIN PD9
// GPS
#define UART4_TX_PIN PB9
#define UART4_RX_PIN PB8
// VTX
#define UART6_TX_PIN PC6
#define UART6_RX_PIN PC7
// ESC Telem in (RX only)
#define UART7_TX_PIN PE8 // Not connected
#define UART7_RX_PIN PE7
// Receiver
#define UART8_TX_PIN PE1
#define UART8_RX_PIN PE0
// Baro I2C
#define I2C1_SCL_PIN PB6
#define I2C1_SDA_PIN PB7
// Mag and GPS (External) I2C
#define I2C2_SCL_PIN PB10
#define I2C2_SDA_PIN PB11
// LED pins, active low
#define LED0_PIN PE3 // Blue
#define LED1_PIN PE4 // Green
// ICM-42688P IMU
#define SPI1_SCK_PIN PA5
#define SPI1_SDI_PIN PA6
#define SPI1_SDO_PIN PD7
// Unused
//#define SPI2_SCK_PIN PB13
//#define SPI2_SDI_PIN PB14
//#define SPI2_SDO_PIN PB15
// FRAM (Unused for BF)
#define SPI3_SCK_PIN PB3
#define SPI3_SDI_PIN PB4
#define SPI3_SDO_PIN PB5
// CS pin for SPI3 connection: PD4
// IIM-42653 IMU
#define SPI4_SCK_PIN PE12
#define SPI4_SDI_PIN PE13
#define SPI4_SDO_PIN PE14
// ADC pins
#define ADC_VBAT_PIN PC0
#define ADC_CURR_PIN PC1
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define ADC1_DMA_OPT 9
#define ADC3_DMA_OPT 10
// SD card
#define USE_SDCARD
#define SDIO_CK_PIN PC12
#define SDIO_CMD_PIN PD2
#define SDIO_D0_PIN PC8
#define SDIO_D1_PIN PC9
#define SDIO_D2_PIN PC10
#define SDIO_D3_PIN PC11
#define SDCARD_DETECT_PIN PD15
#define SDCARD_DETECT_INVERTED
#define SDIO_DEVICE SDIODEV_1
#define SDIO_USE_4BIT 1
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SDCARD
// Sensors
#define USE_ACC
#define USE_GYRO
#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH
// IMU 1 (ICM-42688P)
#define USE_ACC_SPI_ICM42688P
#define USE_GYRO_SPI_ICM42688P
#define GYRO_1_EXTI_PIN PB2
#define GYRO_1_CS_PIN PC15
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW0_DEG
// IMU 2 (IIM-42653)
#define USE_ACCGYRO_IIM42653
#define GYRO_2_EXTI_PIN PE15
#define GYRO_2_CS_PIN PE11
#define GYRO_2_SPI_INSTANCE SPI4
#define GYRO_2_ALIGN CW0_DEG
// Baro
#define USE_BARO
#define USE_BARO_DPS310 // DPS368, but it's equivalent
#define BARO_I2C_INSTANCE I2CDEV_1
// Mag
#ifndef USE_MAG
#define USE_MAG
#endif
#define USE_MAG_LIS2MDL
#define MAG_I2C_INSTANCE I2CDEV_2
#define MAG_ALIGN CW90_DEG
/*
Pin mapping:
Motor 1 (TIM5 CH1)
Motor 2 (TIM5 CH2)
Motor 3 (TIM5 CH3)
Motor 4 (TIM5 CH4)
Motor 5 (TIM3 CH3)
Motor 6 (TIM3 CH4)
Servo 1 (TIM15 CH1)
Servo 2 (TIM15 CH2)
LED strip (TIM1 CH1)
Beeper (TIM2 CH1)
*/
#define TIMER_PIN_MAPPING \
TIMER_PIN_MAP( 0, PA0 , 2, 0) \
TIMER_PIN_MAP( 1, PA1 , 2, 1) \
TIMER_PIN_MAP( 2, PA2 , 2, 2) \
TIMER_PIN_MAP( 3, PA3 , 2, 3) \
TIMER_PIN_MAP( 4, PB0 , 2, 4) \
TIMER_PIN_MAP( 5, PB1 , 2, 5) \
TIMER_PIN_MAP( 6, PE5 , 1, -1) \
TIMER_PIN_MAP( 7, PE6 , 1, -1) \
TIMER_PIN_MAP( 8, PA8 , 1, 8) \
TIMER_PIN_MAP( 9, PA15, 1, -1)
#define TIMUP3_DMA_OPT 11
#define TIMUP5_DMA_OPT 12
// Other features:
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART8
#define GPS_UART SERIAL_PORT_UART4
// PINIO
// PINIO 1 is the 10V enable pin for VTX power
#define PINIO1_PIN PD10
#define PINIO1_CONFIG 129 // PINIO_CONFIG_MODE_OUT_PP, 10V enable, active low
#define PINIO1_BOX 40 // USER1
#define BOX_USER1_NAME "VTX PWR"
#define PINIO2_PIN PD11
#define PINIO2_CONFIG 1 // PINIO_CONFIG_MODE_OUT_PP
#define PINIO2_BOX 41 // USER2