# hw definition file for processing by chibios_pins.py
# for Foxeer Reaper AIO V2 F745

# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 1074

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# bootloader takes first sector
FLASH_RESERVE_START_KB 96

# only one I2C bus
I2C_ORDER I2C1

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

# Buzzer - DMA timer channel use by LEDs
PD2 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# Debug
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for OSD
PA4 AT7456E_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2
#PA15 FLASH_CS CS
#PB13 SPI2_SCK SPI2
#PB14 SPI2_MISO SPI2
#PB15 SPI2_MOSI SPI2

# SPI3 for Gyro
PA15 GYRO_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# SPI4 for Flash
PE4 FLASH_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# I2C1 for baro
PB8 I2C1_SCL I2C1 PULLUP
PB9 I2C1_SDA I2C1 PULLUP

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 100
define HAL_BATT_MONITOR_DEFAULT 4

PC5 RSSI_ADC ADC1

# USART1 (DJI RCIN)
PA10 USART1_RX USART1 NODMA

# USART2 (RX)
PA2 USART2_TX USART2
PA3 USART2_RX USART2
define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN

# USART3
PB10 USART3_TX USART3 NODMA
PB11 USART3_RX USART3 NODMA

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

# UART7 (GPS)
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12

# Motors
PB4  TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR    # 1
PB5  TIM3_CH2 TIM3 PWM(2) GPIO(51)          # 2
PB1  TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR    # 3
PB0  TIM3_CH3 TIM3 PWM(4) GPIO(53)          # 4

# NeoPixel LED strip
PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54)
PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED

DMA_PRIORITY USART2* TIM3* TIM1*

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# spi devices bmi270(v2) icm42688 (v3)
SPIDEV bmi270    SPI3 DEVID1 GYRO_CS  MODE3  1*MHZ  4*MHZ
SPIDEV icm42688  SPI3 DEVID1 GYRO_CS  MODE3  2*MHZ  8*MHZ
SPIDEV dataflash SPI4 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
SPIDEV osd       SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ

# no built-in compass
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0

# one IMU: bmi270 or icm42688
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 1

# no BARO
define HAL_BARO_ALLOW_INIT_NO_BARO 1

# 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

# save some flash
include ../include/save_some_flash.inc
include ../include/minimal.inc
define AP_GRIPPER_ENABLED 0
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0
define AP_BATTMON_SMBUS_ENABLE 0
define AP_BATTMON_FUEL_ENABLE 0