# hw definition file for processing by chibios_pins.py
# for OMNIBUSF7V2 hardware.
@ thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 121

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# reserve one sector for bootloader and 2 for storage
FLASH_RESERVE_START_KB 96


# only one I2C bus
I2C_ORDER I2C2

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

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

PE0 LED0 OUTPUT LOW
PD15 TIM4_CH4 TIM4 GPIO(57) ALARM

# ICM-20608 on SPI1
PA4 MPU6000_CS CS

# MPU6500 on SPI3
PA15 MPU6500_CS CS

# SPI1 for IMU and baro
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

PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# SPI4 for SDCard
PE4 SDCARD_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# external I2C device2, pins shared with USART3, normally disabled
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# baro is BMP280 on SPI1
PA1 BMP280_CS CS

# mag is on I2C if connected

PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
 
PC5 RSSI_ADC ADC1

# setup two IMUs
IMU Invensense SPI:mpu6000 ROTATION_NONE
IMU Invensense SPI:mpu6500 ROTATION_YAW_90

# USART1
PA10 USART1_RX USART1
PA9  USART1_TX USART1

# RC input using timer by default
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN

# alternative RC input using USART2
PA3 USART2_RX USART2 NODMA ALT(1)

# USART3, enabled as ALT config in place of I2C
PB10 USART3_TX USART3 ALT(2)
PB11 USART3_RX USART3 ALT(2)

# USART6
PC7 USART6_RX USART6
PC6 USART6_TX USART6

# UART7 (V2 version, ESC telem)
PE7 UART7_RX UART7


PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR
PE9  TIM1_CH1 TIM1 PWM(3) GPIO(52) BIDIR
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53)

DMA_PRIORITY ADC* USART6* TIM1_CH1 TIM3_CH4 TIM1_UP TIM3_UP SPI4* SPI1*

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# spi devices
SPIDEV bmp280  SPI1 DEVID1 BMP280_CS MODE3   1*MHZ  8*MHZ
SPIDEV mpu6000 SPI1 DEVID2 MPU6000_CS MODE3  1*MHZ  4*MHZ
SPIDEV mpu6500 SPI3 DEVID1 MPU6500_CS MODE3  1*MHZ  4*MHZ
SPIDEV sdcard  SPI4 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
SPIDEV osd     SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ

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

# 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

# disable SMBUS monitors to save flash
define AP_BATTMON_SMBUS_ENABLE 0

# disable parachute and sprayer to save flash
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0

# one baro
BARO BMP280 SPI:bmp280

define OSD_ENABLED 1
define OSD_PARAM_ENABLED 0
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin