# hw definition file for f405 Matek CAN GPS

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# bootloader starts firmware at 64k
FLASH_RESERVE_START_KB 64
FLASH_SIZE_KB 1024

# store parameters in pages 2 and 3
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 15360

# board ID for firmware load
APJ_BOARD_ID 1014

env AP_PERIPH 1

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32

# enable watchdog

# crystal frequency
OSCILLATOR_HZ 8000000

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# blue LED0 marked as ACT
PA14 LED OUTPUT HIGH
define HAL_LED_ON 1

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64

# debug (disabled to allow for PA14 LED above), to enable debugging disable the use of PA14 above
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD

# avoid timer and RCIN threads to save memory
define HAL_NO_RCIN_THREAD

define HAL_USE_RTC FALSE
define DISABLE_SERIAL_ESC_COMM TRUE

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

define HAL_NO_MONITOR_THREAD

define HAL_DEVICE_THREAD_STACK 768

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256



# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the bootloader at runtime
env ROMFS_UNCOMPRESSED True


# --------------------- SPI1 IMU -----------------------
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 MPU_CS CS

# SPIDEV icm20602 SPI1 DEVID1  MPU_CS MODE3  1*MHZ  4*MHZ
# IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90


# --------------------- SPI2 RM3100 --------------------
PB13  SPI2_SCK SPI2
PB14  SPI2_MISO SPI2
PB15  SPI2_MOSI SPI2
PB12  MAG_CS CS


# ---------------------- SPI3 SD ------------------------
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PC14 SDCARD_CS CS


# ---------------------- I2C bus ------------------------
I2C_ORDER I2C2

PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 1


# ---------------------- CAN bus -------------------------
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

# use DNA for node allocation

define CAN_APP_NODE_NAME "org.ardupilot.f405_MatekGPS"


# ---------------------- UARTs ---------------------------
#           | sr0  | sr1  | sr2  | GPS | MSP |
SERIAL_ORDER USART1 USART2 USART3 UART4 UART5

# USART1, for debug
PA9  USART1_TX USART1 SPEED_HIGH NODMA
PA10 USART1_RX USART1 SPEED_HIGH NODMA

# USART2
PA2 USART2_TX USART2 SPEED_HIGH NODMA
PA3 USART2_RX USART2 SPEED_HIGH NODMA

# USART3
PC10  USART3_TX USART3 SPEED_HIGH NODMA
PC11  USART3_RX USART3 SPEED_HIGH NODMA

# UART4, for GPS
PA0 UART4_TX UART4 SPEED_HIGH NODMA
PA1 UART4_RX UART4 SPEED_HIGH NODMA

# USART5, for MSP
PC12 UART5_TX UART5 SPEED_HIGH
PD2  UART5_RX UART5 SPEED_HIGH


# --------------------- PWM -----------------------
PC6  TIM8_CH1  TIM8 PWM(1) GPIO(50)
PC7  TIM8_CH2  TIM8 PWM(2) GPIO(51)
PC8  TIM8_CH3  TIM8 PWM(3) GPIO(52)
PC9  TIM8_CH4  TIM8 PWM(4) GPIO(53)
PB0  TIM3_CH3  TIM3 PWM(5) GPIO(54)
PB1  TIM3_CH4  TIM3 PWM(6) GPIO(55)
# PB6  TIM4_CH1  TIM4 PWM(7) GPIO(56)
# PB7  TIM4_CH2  TIM4 PWM(8) GPIO(57)

# WS2812 LED pin
PA15 TIM2_CH1 TIM2 PWM(7) GPIO(58)

# Beeper
PA8  TIM1_CH1  TIM1 GPIO(32) ALARM   

# ----------------------- GPS ----------------------------
define HAL_PERIPH_ENABLE_GPS
define GPS_MAX_RATE_MS 200

define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1


# ---------------------- COMPASS ---------------------------
define HAL_PERIPH_ENABLE_MAG

SPIDEV  rm3100 SPI2 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

define HAL_COMPASS_MAX_SENSORS 1

# added QMC5883L for different board varients
COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90


# --------------------- DPS310 ---------------------------
define HAL_PERIPH_ENABLE_BARO
define HAL_BARO_ALLOW_INIT_NO_BARO

BARO DPS310 I2C:0:0x76


# ------------------ I2C airspeed -------------------------
define HAL_PERIPH_ENABLE_AIRSPEED

# MS4525 sensor by default
define HAL_AIRSPEED_TYPE_DEFAULT 1   
define AIRSPEED_MAX_SENSORS 1

# -------------------- MSP --------------------------------
define HAL_PERIPH_ENABLE_MSP
define HAL_MSP_ENABLED 1
define AP_PERIPH_MSP_PORT_DEFAULT 4

# ----------------- rangefinder,ADSB ----------------------
define HAL_PERIPH_ENABLE_RANGEFINDER
define RANGEFINDER_MAX_INSTANCES 1

# disable rangefinder by default
define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1

# ------------------ BATTERY Monitor -----------------------
define HAL_PERIPH_ENABLE_BATTERY

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE

# define HAL_DISABLE_ADC_DRIVER TRUE

PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
# PC2 RSSI_ADC_PIN ADC1 SCALE(1)
# PC3 PRESSURE_SENS ADC1 SCALE(1)
PC5 BATT2_VOLTAGE_SENS ADC1 SCALE(1)

# define BOARD_RSSI_ANA_PIN 12
# define HAL_DEFAULT_AIRSPEED_PIN 13

# Set the Default Battery Monitor Type to be Off
define HAL_BATT_MONITOR_DEFAULT 0

define HAL_BATT_VOLT_PIN 10
define HAL_BATT_VOLT_SCALE 21.0

define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 40.0

define HAL_BATT2_VOLT_PIN 15
define HAL_BATT2_VOLT_SCALE 11.0


# -------------------- Buzzer+NeoPixels --------------d------
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY
