ardupilot/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat

# hw definition file for processing by chibios_pins.py
# Omnibus F4 PRO with on-board current sensor
# with F405 mcu, mpu6000 and bmi270 imu, bmp280 barometer, 7456 series osd  and sdcard

MCU STM32F4xx STM32F405xx

HAL_CHIBIOS_ARCH_F405 1

# board ID for firmware load
APJ_BOARD_ID 131

# crystal frequency
OSCILLATOR_HZ 8000000

STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 64

# order of I2C buses
I2C_ORDER I2C2

# order of UARTs
SERIAL_ORDER OTG1 USART1 USART3 USART6 UART4

#adc
PC1 BAT_CURR_SENS ADC1 SCALE(1)
PC2 BAT_VOLT_SENS ADC1 SCALE(1)

#analog rssi pin (also could be used as analog airspeed input)
PA0 RSSI_IN ADC1
define BOARD_RSSI_ANA_PIN 0

#pwm output. 1 - 4 on main header, 5 & 6 on separated header w/o 5V supply, 7 & 8 on CH5 and CH6 pads
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
PB1 TIM1_CH3N TIM1 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)
PA8 TIM1_CH1  TIM1 PWM(6) GPIO(55)
PC8 TIM8_CH3  TIM8 PWM(7) GPIO(56)
PC9 TIM8_CH4  TIM8 PWM(8) GPIO(59)

PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# note that this board needs PULLUP on I2C pins
PB10 I2C2_SCL I2C2 PULLUP
PB11 I2C2_SDA I2C2 PULLUP

# use I2C pins as USART3 (SERIAL2) in BRD_ALT_CONFIG=1 & 4
PB10 USART3_TX USART3 ALT(1)
PB11 USART3_RX USART3 ALT(1)
PB10 USART3_TX USART3 ALT(4)
PB11 USART3_RX USART3 ALT(4)

PB15 SPI2_MOSI SPI2
PB14 SPI2_MISO SPI2
PB13 SPI2_SCK SPI2
PB12 SDCARD_CS CS

PA10 USART1_RX USART1
PA9 USART1_TX USART1

PC6 USART6_TX USART6
PC7 USART6_RX USART6

# UART4 TX available as an alternative config on PA0 (RSSI pad) with BRD_ALT_CONFIG=2
PA0 UART4_TX UART4 ALT(2)

# full UART4 also available as alt config on PA0 (RSSI pad) and PA1 (PWM output chan 5) with BRD_ALT_CONFIG=3 & 4
PA0 UART4_TX UART4 ALT(3)
PA1 UART4_RX UART4 ALT(3)
PA0 UART4_TX UART4 ALT(4)
PA1 UART4_RX UART4 ALT(4)

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

PA15 OSD_CS CS
PB3 BMP280_CS CS
PC12 SPI3_MOSI SPI3
PC11 SPI3_MISO SPI3
PC10 SPI3_SCK SPI3

PB5 LED_BLUE OUTPUT LOW GPIO(1)
define HAL_GPIO_A_LED_PIN 1

#dummy assignment required to allow AP_NOTIFY to use board led
define HAL_GPIO_B_LED_PIN 2 

PB4 TIM3_CH1 TIM3 GPIO(58) ALARM LOW

#use LED-STRIP output as general purpose GPIO
PB6 GP_GPIO OUTPUT LOW GPIO(70)

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC5 VBUS INPUT OPENDRAIN

# "PPM" solder pad/resistor should be soldered and "S-BUS" resistor/solder pad removed
# Overwise UART1 or UART6 or RCIN will not work
PB8 TIM4_CH3 TIM4 RCININT PULLDOWN LOW


# SPI Device table 
SPIDEV bmi270     SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ 
SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
SPIDEV sdcard     SPI2 DEVID2 SDCARD_CS MODE0 400*KHZ 25*MHZ
SPIDEV bmp280     SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
SPIDEV osd        SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ

# one IMU  BMI270 or MPU6000 
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
IMU BMI270     SPI:bmi270  ROTATION_ROLL_180


# one baro
BARO BMP280 SPI:bmp280
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_BMP280_ENABLED 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_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360

define HAL_OS_FATFS_IO 1

# define default battery setup
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 18.2

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1

#To complementary channels work we define this
define STM32_PWM_USE_ADVANCED TRUE

#font for the osd
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

# disable parachute and sprayer to save flash
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0

# save some flash
include ../include/save_some_flash.inc

include ../include/minimize_fpv_osd.inc