ardupilot/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat

# hw definition file for processing by chibios_pins.py
# for Revo-Mini hardware

# MCU class and specific type
MCU STM32F4xx STM32F405xx

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_REVOMINI

# board ID for firmware load
APJ_BOARD_ID 124

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

define STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 1024

# board voltage
STM32_VDD 330U

# use USB for stdout, so no STDOUT_SERIAL
# STDOUT_SERIAL SD3
# STDOUT_BAUDRATE 57600

# only one I2C bus
I2C_ORDER I2C1

# order of UARTs (and USB)
UART_ORDER OTG1 USART3 USART1

# rcinput is PC6, which is the 3rd "PWM IN" pin (the yellow wire on a
# revolution board)
PC6 TIM8_CH1 TIM8 RCIN FLOAT LOW

# analog pins
PC3 VDD_5V_SENS ADC1
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC5 USB_SENSE ADC1

# define default battery setup
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0


PC0 SBUS_INVERT OUTPUT LOW

# LEDs
PB5 LED_BLUE OUTPUT LOW GPIO(0)
PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
PB4 LED_RED OUTPUT LOW GPIO(2)

# GPS port disabled (PC6 used for RCIN)
#PC6 USART6_TX USART6
#PC7 USART6_RX USART6

# flexi port, setup as GPS
PB10 USART3_TX USART3
PB11 USART3_RX USART3

# main port, for telem1
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# alternative config
# PB10 I2C2_SCL I2C2
# PB11 I2C2_SDA I2C2

# spi bus for IMU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# spi bus for dataflash
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# IRQ for MPU6000
PC4 EXTI_MPU6000 INPUT

# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# only one I2C bus in normal config
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# SPI chip selects
PA4 MPU_CS CS
PB3 FLASH_CS CS

# PWM out pins
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
PC8 TIM8_CH3 TIM2 PWM(7) GPIO(56)
PC9 TIM8_CH4 TIM2 PWM(8) GPIO(57)

PB7 DRDY_HMC5883 INPUT PULLUP

define HAL_STORAGE_SIZE 15360
define STORAGE_FLASH_PAGE 2

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

define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180

define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
define HAL_COMPASS_HMC5843_I2C_BUS 0
define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_270
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
define HAL_BARO_MS5611_I2C_BUS 0
define HAL_BARO_MS5611_I2C_ADDR 0x77

# also allow for probing of external barometers
define HAL_PROBE_EXTERNAL_I2C_BAROS

# SPI devices
SPIDEV mpu6000   SPI1 DEVID1 MPU_CS   MODE3 1*MHZ 8*MHZ 
SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 1*MHZ 8*MHZ

# 8 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 8