# hw definition file for processing by chibios_pins.py
# for TAKER F745 BT hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID AP_HW_GEPRCF745BTHD

# 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

# I2C1 for baro
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# order of UARTs (and USB), 
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8

# buzzer
#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 MPU6000
PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 for ICM42688
PB12 ICM42605_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI3 for SDCard
PA15 SDCARD_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# SPI4 for MAX7456 OSD
PE4 MAX7456_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

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

# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 11.13
define HAL_BATT_CURR_SCALE 28.5

PC13 LED0 OUTPUT LOW GPIO(90) # LED
define AP_NOTIFY_GPIO_LED_1_ENABLED 1
define AP_NOTIFY_GPIO_LED_1_PIN 90

# In order to accommodate bi-directional dshot certain devices cannot be DMA enabled
# NODMA indicates these devices, if you remove it they will still not be resolved for DMA

# USART1
PA10 USART1_RX USART1
PA9  USART1_TX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort

# USART2
# RC input defaults to UART to allow for bi-dir dshot
PA2 USART2_TX USART2
PA3 USART2_RX USART2
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
define DEFAULT_SERIAL2_BAUD 115

# USART3 (BT)
PB11 USART3_RX USART3 NODMA
PB10 USART3_TX USART3 NODMA
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None

# UART4 (GPS)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS

# UART6
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None

# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None

# UART8
PE0 UART8_RX UART8 NODMA
PE1 UART8_TX UART8 NODMA
define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry

# Motors, bi-directional dshot capable
PB0     TIM3_CH3 TIM3 PWM(1) GPIO(50)           # M1
PB1     TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR     # M2
PB5     TIM3_CH2 TIM3 PWM(3) GPIO(52)           # M3
PB4     TIM3_CH1 TIM3 PWM(4) GPIO(53) BIDIR     # M4
PD12    TIM4_CH1 TIM4 PWM(5) GPIO(54)           # M5
PD13    TIM4_CH2 TIM4 PWM(6) GPIO(55)           # M6
PC8     TIM8_CH3 TIM8 PWM(7) GPIO(56) NODMA     # M7
PC9     TIM8_CH4 TIM8 PWM(8) GPIO(57) NODMA     # M8

# extra PWM outs
PA8  TIM1_CH1 TIM1 PWM(9) GPIO(58) # led pin
PD2 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

DMA_PRIORITY USART2*

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# spi devices
SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS  MODE3  1*MHZ  4*MHZ
SPIDEV icm42688   SPI2 DEVID1 ICM42605_CS MODE3  2*MHZ  16*MHZ
SPIDEV sdcard     SPI3 DEVID1 SDCARD_CS   MODE0  400*KHZ 25*MHZ
SPIDEV osd        SPI4 DEVID4 MAX7456_CS  MODE0  10*MHZ 10*MHZ

# IMU setup
IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
IMU Invensense   SPI:mpu6000  ROTATION_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 3

# 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 BARO
BARO BMP280 I2C:0:0x76

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

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

# save some flash
include ../include/minimize_fpv_osd.inc


#only enable BMP280 Baro
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
undef define AP_BARO_BMP280_ENABLED
define AP_BARO_BMP280_ENABLED 1
define AP_BARO_MS56XX_ENABLED 1

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