ardupilot/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for Furious FPV F35 Lightning type hardware 

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 135

# crystal frequency
OSCILLATOR_HZ 8000000

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 64

# console
#STDOUT_SERIAL SD1
#STDOUT_BAUDRATE 57600

# order of I2C buses
I2C_ORDER I2C1

# order of UARTs (UART3RX used for RCInput, UART4RX and USART6RX not pinned out)
SERIAL_ORDER OTG1 USART1 UART5 USART2 EMPTY UART4 USART6

# USB sensing
#PA9 VBUS INPUT OPENDRAIN

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# UART1 (telem1)
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# UART2 (GPS)
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# UART3RX (RCInput)
PB11 TIM2_CH4 TIM2 RCININT PULLDOWN LOW
PA8 SBUS_INVERT_RX OUTPUT

# UART4 (user), only TX pinned out
PA0 UART4_TX UART4
PC11 UART4_RX UART4

# UART5 (telem2)
PC12 UART5_TX UART5
PD2 UART5_RX UART5

# USART6 (user), only TX pinned out as "SPO" pin with hw inverter
PC6 USART6_TX USART6
PC7 USART6_RX USART6

# ADCs
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
PC3 RSSI_IN ADC1 SCALE(2)
define BOARD_RSSI_ANA_PIN 13
# also could be used as analog airspeed input
#PC3 PRESSURE_SENS ADC1 SCALE(2)

# VDD sense pin
#PA4 VDD_5V_SENS ADC1 SCALE(2)

# LED
PC10 LED OUTPUT HIGH GPIO(57)
define HAL_GPIO_A_LED_PIN 57

# SPI
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3

# CS pins
PC0 MPU9250_CS CS
PA4 OSD_CS CS
PC5 BMP280_CS CS
#PB12 SDCARD_CS CS

PC4 MPU9250_DRDY INPUT

# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD

# passive buzzer disabled, optional timers 2 and 5 used for RCinput and STM32
# PA1 TIM2_CH2 TIM2 GPIO(77) ALARM

# use active buzzer instead
PA1 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# I2C
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# PWM pins S1-S6
define STM32_PWM_USE_ADVANCED TRUE
PC8 TIM8_CH3 TIM8 PWM(1) GPIO(50)
PC9 TIM8_CH4 TIM8 PWM(2) GPIO(51)
PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52)
PB9 TIM4_CH4 TIM4 PWM(4) GPIO(53)
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)

# SPI device table, note that the 9250 is not reliable at 8MHz on this board
SPIDEV mpu9250    SPI3 DEVID1 MPU9250_CS MODE3 4*MHZ 4*MHZ
SPIDEV bmp280     SPI3 DEVID2 BMP280_CS MODE3 1*MHZ 8*MHZ
SPIDEV osd        SPI1 DEVID1 OSD_CS MODE0 10*MHZ 10*MHZ
#SPIDEV sdcard     SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ

# one IMU
IMU Invensense SPI:mpu9250 ROTATION_YAW_90

# one baro
BARO BMP280 SPI:bmp280

# probe external compasses plus one in 9250
COMPASS AK8963:probe_mpu9250 0 ROTATION_YAW_90
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0

# external baro probing
define HAL_PROBE_EXTERNAL_I2C_BAROS

# no onboard SD, filesystem support disabled until flash logging implemented
#define HAL_OS_FATFS_IO 1
#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

# OSD support
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# available storage
define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# defaults for battery monitoring
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 11
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 25

# minimal drivers to reduce flash usage
include ../include/minimal.inc

# enable IMU fast sampling
define HAL_DEFAULT_INS_FAST_SAMPLE 1