ardupilot/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat

# hw definition file for processing by chibios_pins.py
# for Holybro KakuteF7 hardware.
@ thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 123

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# leave 2 sectors free
FLASH_RESERVE_START_KB 96


# only one I2C bus
I2C_ORDER I2C1

# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7 USART6

# buzzer
PD15 TIM4_CH4 TIM4 GPIO(77) ALARM
#PD15 BUZZER OUTPUT GPIO(80) LOW
#define HAL_BUZZER_PIN 80
#

# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for SDCard
PA4 SDCARD_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 for MAX7456 OSD
PB12 MAX7456_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI4 for ICM20689
PE4 ICM20689_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# I2C1 for baro
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

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 10.1
define HAL_BATT_CURR_SCALE 17.0

PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 15

PA2 LED0 OUTPUT LOW

# USART1
PA10 USART1_RX USART1
PA9  USART1_TX USART1

# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 (GPS)
PB11 USART3_RX USART3
PB10 USART3_TX USART3

# UART4 (GPS2)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA

# RC input defaults to timer capture
PC7 TIM8_CH2 TIM8 RCININT PULLDOWN

# alternative config using USART for protocols
# like FPort
PC7 USART6_RX USART6 NODMA ALT(1)
PC6 USART6_TX USART6 NODMA

# UART7 USED BY ESC FROM ORIGINAL DESIGN
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# Motors
PB1  TIM1_CH3N TIM1 PWM(1) GPIO(50)
PE9  TIM1_CH1 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PB0  TIM3_CH3 TIM3 PWM(4) GPIO(53)
PC9  TIM3_CH4 TIM3 PWM(5) GPIO(54)
PA3  TIM5_CH4 TIM5 PWM(6) GPIO(55)

# extra PWM outs
#PD12  TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin
#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer)

DMA_PRIORITY TIM1* TIM3* SPI4* SPI1*

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# spi devices
SPIDEV mpu6000  SPI4 DEVID1 ICM20689_CS MODE3  1*MHZ  4*MHZ
SPIDEV sdcard   SPI1 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ
SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*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
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180

# one BARO
BARO BMP280 I2C:0:0x76
define HAL_BARO_ALLOW_INIT_NO_BARO

define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

define STM32_PWM_USE_ADVANCED TRUE

# disable parachute to save flash
define HAL_PARACHUTE_ENABLED 0

# save FLASH, but leave above when flash issue is fixed
include ../include/minimize_features.inc

# disable SMBUS battery monitors to save flash
undef AP_BATTERY_SMBUS_ENABLED
define AP_BATTERY_SMBUS_ENABLED 0

# setup for OSD
undef OSD_ENABLED  # minimize_features.inc removes this
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# make sure MSP HD Goggle support remains
undef HAL_WITH_MSP_DISPLAYPORT
define HAL_WITH_MSP_DISPLAYPORT 1
undef HAL_MSP_ENABLED
define HAL_MSP_ENABLED 1

# need to probe external baros even 'though we're minimised:
undef AP_BARO_PROBE_EXTERNAL_I2C_BUSES
define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 1

# reduce max size of embedded params for apj_tool.py
define AP_PARAM_MAX_EMBEDDED_PARAM 1024