# hw definition file for processing by chibios_pins.py
# for FrSky R9Pilot

# MCU class and specific type
MCU STM32F7xx STM32F767xx

# board ID for firmware load
APJ_BOARD_ID 1008

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 2048

# leave 2 sectors free
FLASH_RESERVE_START_KB 96


# one I2C bus (I2C2 can be used with loss of USART3)
I2C_ORDER I2C3

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 USART1 UART5 USART6 UART7 UART8

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC4  VBUS INPUT OPENDRAIN

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for baro
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 BARO_CS CS
PA1 BARO_CS2 CS

# SPI2 external (gyro box, 7 pin ribbon cable)
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 EXT_CS CS

# SPI3 for on-board IMU
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
PA15 IMU_CS CS
PE8 MPU3_INT INPUT

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

# I2C3
PA8 I2C3_SCL I2C3
PC9 I2C3_SDA I2C3

# I2C2 (if not USART3)
# PB10 I2C2_SCL I2C2
# PB11 I2C2_SDA I2C2

# USART1 for GPS
PA10 USART1_RX USART1
PA9  USART1_TX USART1

# USART2 for telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 for telem2
PB11 USART3_RX USART3
PB10 USART3_TX USART3

# UART5 spare uart
PB5 UART5_RX UART5
PB6 UART5_TX UART5

# USART6, Pixel OSD
PC7 USART6_RX USART6
PC6 USART6_TX USART6

# UART7, used for SBUS input
PB3 UART7_RX UART7
PB4 UART7_TX UART7

# alternatively use UART7 RX for RCInput using timer
PB3 TIM2_CH2 TIM2 RCININT PULLDOWN LOW ALT(1)

# UART8, marked "RX RFD", connected to RXSR receiver via
# 7-pin ribbon cable
PE1 UART8_TX UART8 NODMA

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

# analog RSSI
PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 15

# analog pitot option (not on prototype boards)
PC0 PRESSURE_SENS ADC1 SCALE(2)
define HAL_DEFAULT_AIRSPEED_PIN 10

PE0 LED0 OUTPUT LOW GPIO(90) # blue
PA3 LED1 OUTPUT LOW GPIO(91) # green
define HAL_GPIO_A_LED_PIN 91
define HAL_GPIO_B_LED_PIN 90
define HAL_GPIO_LED_OFF 1

# PWM outputs
PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51)
PE9  TIM1_CH1 TIM1 PWM(3) GPIO(52)
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53)
PE14 TIM1_CH4 TIM1 PWM(5) GPIO(54)
PB7  TIM4_CH2 TIM4 PWM(6) GPIO(55)
PB8  TIM4_CH3 TIM4 PWM(7) GPIO(56)
PB9  TIM4_CH4 TIM4 PWM(8) GPIO(57)

# tonealarm support
PA0  TIM5_CH1 TIM5 GPIO(32) ALARM

# GPIOs
PE3  SD_DETECT INPUT

# switch1
PC8  SW1 GPIO(70)

DMA_PRIORITY SPI* ADC*

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1

# spi devices
SPIDEV icm20602 SPI3 DEVID1 IMU_CS  MODE3  1*MHZ  8*MHZ
SPIDEV spl06    SPI1 DEVID1 BARO_CS MODE3  1*MHZ  1*MHZ
SPIDEV imu2     SPI2 DEVID1 EXT_CS  MODE3  1*MHZ  8*MHZ
SPIDEV sdcard   SPI4 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ

# 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

# one main IMU
IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90

# optional 2nd IMU, support any invensense part, board
# may come with a ICM20601 IMU in a plastic case, called
# "gyro box"
IMU Invensense SPI:imu2 ROTATION_YAW_90

# also support newer Invensense IMUs
IMU Invensensev2 SPI:imu2 ROTATION_YAW_90

define HAL_DEFAULT_INS_FAST_SAMPLE 3

# one BARO, multiple possible choices for different
# board variants
BARO SPL06 SPI:spl06

# dummy for testing
# BARO Dummy

# FAT filesystem on microSD
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

define BOARD_PWM_COUNT_DEFAULT 8