# hw definition file for processing by chibios_pins.py
# for FLYWOO Goku GN F745.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 1027

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# bootloader takes first sector
FLASH_RESERVE_START_KB 96

# only one I2C bus
I2C_ORDER I2C1

# Buzzer - DMA timer channel use by LEDs
#PD15 TIM4_CH4 TIM4 GPIO(80) ALARM
PD15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

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

# SPI1 for Flash Storage 16mb
PA4 FLASH_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 for OSD
PB12 AT7456E_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI4 for MPU6000
PE4 MPU6000_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# I2C1 for baro
PB6 I2C1_SCL I2C1 PULLUP
PB7 I2C1_SDA I2C1 PULLUP

PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)

# define default battery setup
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 10.9
define HAL_BATT_CURR_SCALE 28.5
define HAL_BATT_MONITOR_DEFAULT 4

PC5 RSSI_ADC ADC1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7

# USART1
PA10 USART1_RX USART1 NODMA
PA9  USART1_TX USART1

# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2 NODMA

# USART3
PB10 USART3_TX USART3
PB11 USART3_RX USART3

# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA

# UART5
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA

# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6 NODMA

# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# Motors

PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR	# Motor 1
PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51) 			# Motor 2
PE9  TIM1_CH1 TIM1 PWM(3) GPIO(52)			# Motor 3
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR	# Motor 4
PC9  TIM8_CH4 TIM8 PWM(5) GPIO(54)			# Motor 5
PA3  TIM5_CH4 TIM5 PWM(6) GPIO(55)			# Motor 6
PB4  TIM3_CH1 TIM3 PWM(7) GPIO(56)			# Motor 7
PB5  TIM3_CH2 TIM3 PWM(8) GPIO(57)			# Motor 8

# NeoPixel LED strip
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
PA2 LED0 OUTPUT LOW GPIO(90) # LED

# Misc Timer Stuff
PE13 TIM1_CH3 TIM1 PWM(10) GPIO(59)			# PPM/Unused - for future use according to Flywoo

DMA_PRIORITY USART1* TIM1* TIM3*
DMA_NOSHARE SPI1_TX SPI1_RX TIM1_CH2 TIM3_CH3

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# spi devices
SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3  1*MHZ  4*MHZ

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# one BARO
BARO BMP280 I2C:0:0x76

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

define STM32_PWM_USE_ADVANCED TRUE

# FFT option (disabled by default)
# define HAL_WITH_DSP 1
# define AC_OAPATHPLANNER_ENABLED 0

# EK2 options (disabled by default)
# define HAL_NAVEKF2_AVAILABLE 1
# define HAL_NAVEKF3_AVAILABLE 0

# save some flash
define HAL_GENERATOR_ENABLED 0
define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
define HAL_BARO_WIND_COMP_ENABLED 0
define GRIPPER_ENABLED 0
define HAL_PARACHUTE_ENABLED 0


# minimal drivers to reduce flash usage
include ../include/minimal.inc
define HAL_SPRAYER_ENABLED 0
define AP_BATTMON_SMBUS_ENABLE 0
define AP_OPTICALFLOW_ENABLED 0
define AP_ICENGINE_ENABLED 0
