# 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

define STM32_LSECLK   32768U
define STM32_LSEDRV   (3U << 3U)

define STM32_PLLSRC     STM32_PLLSRC_HSE
define STM32_PLLM_VALUE 8
define STM32_PLLN_VALUE 432
define STM32_PLLP_VALUE 2
define STM32_PLLQ_VALUE 9

FLASH_SIZE_KB 1024

# leave 2 sectors free
FLASH_RESERVE_START_KB 96

# board voltage
STM32_VDD 330U

# 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
UART_ORDER OTG1 USART3 USART1 USART2 UART4

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

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

PA2 LED0 OUTPUT LOW

# 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

# 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
PA1 UART4_RX UART4

# UART6, RX only, for RCIN
PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW

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

PB0  TIM3_CH3 TIM3 PWM(1)
PB1  TIM3_CH4 TIM3 PWM(2)
PE9  TIM1_CH1 TIM1 PWM(3)
PE11 TIM1_CH2 TIM1 PWM(4)

DMA_PRIORITY S*

define HAL_STORAGE_SIZE 16384
define 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

define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
define HAL_BARO_BMP280_BUS 0
define HAL_BARO_BMP280_I2C_ADDR 0x76

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

# probe for an invensense IMU
define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180

define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"

# setup for OSD
define OSD_ENABLED ENABLED
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin