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

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 145

# 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 EMPTY USART6 UART7

# buzzer
PD15 TIM4_CH4 TIM4 GPIO(77) ALARM
#PD15 BUZZER OUTPUT GPIO(80) LOW
#define HAL_BUZZER_PIN 80
#define HAL_BUZZER_ON 1
#define HAL_BUZZER_OFF 0

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

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for M25P16 dataflash
PA4 FLASH_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 10.9
define HAL_BATT_CURR_SCALE 28.5

PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 15

PA2 LED0 OUTPUT LOW

# 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 NODMA
PA9  USART1_TX USART1 NODMA

# 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 UART to allow for bi-dir dshot
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
define HAL_SERIAL6_BAUD 115

# UART7, RX only for ESC Telemetry
# No DMA because SPI2 requires the DMA slot
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA LOW

# Motors, bi-directional dshot capable
PB1  TIM3_CH4 TIM3 PWM(1) GPIO(50)          # M1
PE9  TIM1_CH1 TIM1 PWM(2) GPIO(51)          # M2 CH1 and CH2 can share ICU Channel for BIDIR
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)  BIDIR   # M4
PB0  TIM3_CH3 TIM3 PWM(4) GPIO(53)  BIDIR   # M3
# These are not DMA enabled so not dshot capable
# To get dshot (but not bi-dir dshot) remove the NODMA and add NODMA to USART6
PC9  TIM8_CH4 TIM8 PWM(5) GPIO(54)  NODMA   # M5
PA3  TIM5_CH4 TIM5 PWM(6) GPIO(55)          # M6

# 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 ADC* USART6* TIM1* TIM3* SPI4* SPI1*
DMA_NOSHARE SPI4_RX

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# spi devices
SPIDEV mpu6000  SPI4 DEVID1 ICM20689_CS MODE3  1*MHZ  4*MHZ
SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 32*MHZ 32*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

# 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

# disable SMBUS battery 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

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

define HAL_MOUNT_ENABLED 0

# save some flash
define HAL_GENERATOR_ENABLED 0
define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
define AP_OPTICALFLOW_ENABLED 0
define AP_ICENGINE_ENABLED 0