# MCU class and specific type
MCU STM32F7xx STM32F767xx


# board ID for firmware load
APJ_BOARD_ID 1131

# crystal frequency
OSCILLATOR_HZ 24000000

USB_STRING_MANUFACTURER "Dheeran labs"
USB_STRING_PRODUCT "PixFlamingo"

# ChibiOS system timer
STM32_ST_USE_TIMER 2
#define CH_CFG_ST_RESOLUTION 16


# flash size
FLASH_SIZE_KB 2048

FLASH_RESERVE_START_KB 96 
env OPTIMIZE -O2

# serial port for stdout disabled, use USB console
# STDOUT_SERIAL SD7
# STDOUT_BAUDRATE 57600

# only one I2C bus
I2C_ORDER I2C2

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


#define HAL_SERIAL4_PROTOCOL SerialProtocol_RCIN
#define HAL_SERIAL4_BAUD 115

# debug on LUART1
#STDOUT_SERIAL SD4
#STDOUT_BAUDRATE 57600

PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
PA4 VDD_5V_SENS ADC1 SCALE(2)

# SPI1 is fram bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

PA9 VBUS INPUT

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART3 serial1 telem1
PD8 USART3_TX USART3 
PD9 USART3_RX USART3 
PB13 USART3_CTS USART3 
PB14 USART3_RTS USART3 

# USART2 serial2 telem2
PC6 USART6_TX USART6 
PC7 USART6_RX USART6

PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2 NODMA

# USART1 is GPS
PB6 USART1_TX USART1 NODMA 
PB7 USART1_RX USART1
define HAL_USE_SERIAL TRUE

PB4 UART7_TX UART7 NODMA 
PB3 UART7_RX UART7 NODMA

#define STM32_SERIAL_USE_USART2 TRUE

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# PWM output for buzzer
PB0 TIM3_CH3 TIM3 RCININT PULLDOWN LOW

PE2 BOOT1 INPUT
PB12 VDD_BRICK_VALID INPUT PULLDOWN

PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

PA8 CAN3_RX CAN3
PA15 CAN3_TX CAN3

# SPI2 is for sensors
PD3 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2

PD0 IMU1_CS CS
PE0 MPU6500_CS CS
PB5 BARO_CS CS
PD7 MAG_CS CS

# This defines more ADC inputs.
PC4 AUX_POWER ADC1 SCALE(1)
PC5 AUX_ADC2 ADC1 SCALE(1)
              
PD10 VBUS_VALID INPUT PULLDOWN
PE12 LED_SAFETY OUTPUT
PE15 SAFETY_IN INPUT PULLDOWN
PC14 VDD_PERIPH_EN OUTPUT HIGH

PC8 SDMMC_D0 SDMMC1
PC9 SDMMC_D1 SDMMC1
PC10 SDMMC_D2 SDMMC1
PC11 SDMMC_D3 SDMMC1
PC12 SDMMC_CK SDMMC1
PD2 SDMMC_CMD SDMMC1

PE5 IMU1_DRDY INPUT
PE6 MPU6500_DRDY INPUT
PE4 MAG_DRDY INPUT

PC13 VDD_SENSORS_EN OUTPUT HIGH

# GPIOs
PE3 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1

PD12 TIM4_CH1 TIM4 GPIO(32) ALARM
PB9 EXTERN_GPIO1 OUTPUT GPIO(4)

PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)
PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55)
PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56)
PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57)
PB8  TIM10_CH1 TIM10 PWM(9) GPIO(58) NODMA
PB15 TIM8_CH3N TIM8 PWM(10) GPIO(59) NODMA


# SPI device table. 

SPIDEV icm42670    SPI2 DEVID1  IMU1_CS    MODE3  2*MHZ  8*MHZ
SPIDEV mpu6500    SPI2 DEVID2   MPU6500_CS    MODE3  1*MHZ  4*MHZ
SPIDEV ms5611_int      SPI1 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
SPIDEV lis3mdl     SPI2 DEVID5  MAG_CS     MODE3 500*KHZ 500*KHZ
SPIDEV bmp280     SPI1 DEVID3   BARO_CS  MODE3 1*MHZ 8*MHZ
SPIDEV dps310     SPI1 DEVID3   BARO_CS  MODE3 5*MHZ 5*MHZ

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

# pixracer has 3 LEDs, Red, Green, Blue
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

PE10 LED_RED   OUTPUT GPIO(0)
PE8  LED_GREEN OUTPUT GPIO(1)
PE7  LED_BLUE  OUTPUT GPIO(2)

define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2

# battery setup
 define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 11
define HAL_BATT_CURR_PIN 10
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

DMA_PRIORITY S*

define STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 32768


# two IMUs
IMU Invensensev3 SPI:icm42670 ROTATION_YAW_270 #ROTATION_YAW_180 #ROTATION_ROLL_180_YAW_270 #ROTATION_YAW_90 #ROTATION_YAW_270  #ROTATION_ROLL_180
IMU Invensense SPI:mpu6500 ROTATION_ROLL_180

COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE

# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0


#NODMA I2C*
define STM32_I2C_USE_DMA FALSE
# one barometer
BARO MS56XX SPI:ms5611_int
BARO BMP280 SPI:bmp280
BARO DPS310 SPI:dps310
define HAL_BARO_ALLOW_INIT_NO_BARO
define HAL_COMPASS_AUTO_ROT_DEFAULT 2