# for Mazzy Star Drone FC.

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 188

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

define STM32_LSECLK   32768U
define STM32_LSEDRV   (3U << 3U)

define STM32_PLLSRC     STM32_PLLSRC_HSE
define STM32_PLLM_VALUE 8
define STM32_PLLN_VALUE 432
define STM32_PLLP_VALUE 2
define STM32_PLLQ_VALUE 9

FLASH_SIZE_KB 1024

# leave 2 sectors free
FLASH_RESERVE_START_KB 96

# board voltage
STM32_VDD 330U

# only one I2C bus
I2C_ORDER I2C1

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

# 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 SDCard
PA4 SDCARD_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI4
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# for ICM20689
PE4 ICM20689_CS CS

# for BMI055
PB4 BMI055_G_CS CS
PD3 BMI055_A_CS CS

# GPIOs
PD12 HEATER_EN OUTPUT LOW GPIO(59)
define HAL_HEATER_GPIO_PIN 59

define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 60

# SPI temperature sensor
PD0 TSENSE_CS CS

# drdy pins
PE1 DRDY1_ICM20689 INPUT
PB3 DRDY2_BMI055_GYRO INPUT
PD2 DRDY3_BMI055_ACC INPUT
PB5 DRDY5_BMI055_GYRO INPUT
PD1 DRDY6_BMI055_ACC INPUT

# 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 10.1
define HAL_BATT_CURR_SCALE 17.0

PC5 RSSI_ADC ADC1

PA2 LED0 OUTPUT LOW

# USART1
PA10 USART1_RX USART1
PA9  USART1_TX USART1

# 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
PA1 UART4_RX UART4

# USART6, RX only for RCIN
PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
PC6 USART6_TX USART6 NODMA LOW

# UART7 USED BY ESC FROM ORIGINAL DESIGN
PE7 UART7_RX UART7
PE8 UART7_TX UART7

# Motors
PB0  TIM3_CH3 TIM3 PWM(1) GPIO(34)
PB1  TIM1_CH3N TIM1 PWM(2) GPIO(35)
PE9  TIM1_CH1 TIM1 PWM(3) GPIO(39)
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(41)
PC9  TIM3_CH4 TIM3 PWM(5) GPIO(66)
PA3  TIM5_CH4 TIM5 PWM(6) GPIO(25)

# 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 S*

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1

# spi devices
SPIDEV icm20689 SPI4 DEVID1 ICM20689_CS MODE3 2*MHZ  8*MHZ
SPIDEV bmi055_g SPI4 DEVID2 BMI055_G_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi055_a SPI4 DEVID3 BMI055_A_CS MODE3 10*MHZ 10*MHZ

SPIDEV sdcard   SPI1 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ

define HAL_DEFAULT_INS_FAST_SAMPLE 3

define HAL_SPI_CHECK_CLOCK_FREQ 1

# 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_COMPASS_AUTO_ROT_DEFAULT 2
# define HAL_PROBE_EXTERNAL_I2C_COMPASSES
# define HAL_COMPASS_DEFAULT HAL_COMPASS_IST8310_I2C
# define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90

# two IMU
IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_270
IMU Invensense SPI:icm20689 ROTATION_YAW_180

# one BARO
BARO BMP280 I2C:0:0x76

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 6
define STM32_PWM_USE_ADVANCED TRUE

# we are low on flash on this board
define HAL_MINIMIZE_FEATURES 1