# hw definition file for AtomRC F405 hardware

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1078

# crystal frequency
OSCILLATOR_HZ 8000000

define STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 1024

# only one I2C bus
I2C_ORDER I2C1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6

# LEDs
PA14 LED_BLUE OUTPUT LOW GPIO(0)
PA13 LED_GREEN  OUTPUT LOW GPIO(1)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1

# buzzer
PC5 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# spi1 bus for IMU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 IMU_CS CS

# spi2 for OSD
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 AT7456E_CS CS

# spi3 for sdcard
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PB6 SDCARD_CS CS

# one I2C bus
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# analog pins
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC0 RSSI_ADC_PIN ADC1 SCALE(1)
PC3 AIRSPEED_ADC ADC1 SCALE(1)

define HAL_DEFAULT_AIRSPEED_PIN 13

# define default battery setup
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11.08836
define HAL_BATT_CURR_SCALE 30.0
define HAL_BATT_MONITOR_DEFAULT 4

# analog rssi pin
define BOARD_RSSI_ANA_PIN 10

# USART1
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# USART2 - RCIN with inverter
PA2 USART2_TX USART2
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN

# alternative with PA3 as USART2_RX
PA3 USART2_RX USART2 NODMA ALT(1)

# USART3
PC10 USART3_TX USART3
PC11 USART3_RX USART3
define HAL_SERIAL3_PROTOCOL 0

# UART4 GPS
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
define HAL_SERIAL4_PROTOCOL 5

# UART5 for DJI OSD
PD2  UART5_RX UART5 NODMA
PC12 UART5_TX UART5 NODMA

# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# debug (disabled out to allow for both LEDs)
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD

# PWM out pins. Note that channel order follows the ArduPilot motor
# order conventions
PC8  TIM3_CH3 TIM3 PWM(1) GPIO(50)
PC9  TIM3_CH4 TIM3 PWM(2) GPIO(51)
PA8  TIM1_CH1 TIM1 PWM(3) GPIO(52)
PB1  TIM1_CH3N TIM1 PWM(4) GPIO(53)
PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55)
PB11 TIM2_CH4 TIM2 PWM(7) GPIO(56)
PB0  TIM1_CH2N TIM1 PWM(8) GPIO(57)
PB7  TIM4_CH2 TIM4 PWM(9) GPIO(58) # LED strip

define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 2

# reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64

# one IMU
IMU BMI270 SPI:bmi270 ROTATION_PITCH_180

# I2C BMP280 or SPL06
BARO SPL06  I2C:0:0x76
BARO BMP280 I2C:0:0x76

# 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

# SPI devices
SPIDEV bmi270 SPI1 DEVID1 IMU_CS MODE3 1*MHZ 10*MHZ
SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
SPIDEV osd    SPI2 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ

# filesystem setup on sdcard
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

# reduce max size of embedded params for apj_tool.py
define AP_PARAM_MAX_EMBEDDED_PARAM 256

# save some flash
define AP_BATTMON_SMBUS_ENABLE 0
define HAL_GENERATOR_ENABLED 0
define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
define AP_OPTICALFLOW_ENABLED 0
define AP_ICENGINE_ENABLED 0
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0
