ardupilot/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat

# hw definition file for KakuteF4 hardware

# STATUS:
# This port is mostly complete. Main missing feature are OSD,
# dataflash

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# Betaflight motor order for copter
define HAL_FRAME_TYPE_DEFAULT 12

# board ID for firmware load
APJ_BOARD_ID 122

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

define STM32_ST_USE_TIMER 4
define CH_CFG_ST_RESOLUTION 16

FLASH_SIZE_KB 1024

# board voltage
STM32_VDD 330U

# only one I2C bus
I2C_ORDER I2C1

# LEDs
PB5 LED_BLUE OUTPUT LOW GPIO(0)

# buzzer
PC9 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

# spi3 for dataflash and OSD
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
PB14 MAX7456_CS CS

# dataflash M25P16
PB3 FLASH_CS CS

PC4 ICM20689_CS CS
PC5 ICM20689_DRDY INPUT

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

# analog pins
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)

# RSSI analog input
PC1 RSSI_ADC_PIN ADC1 SCALE(1)
define BOARD_RSSI_ANA_PIN 11

# define default battery setup
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

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

# rcinput is PB11
PB11 TIM2_CH4 TIM2 RCININT FLOAT LOW
PB10 USART3_TX USART3

# SBUS inversion control pin, active low
PB15 SBUS_INVERT OUTPUT LOW

# for FrSky S.PORT. Has builtin inverters and diode to combine
# RX and TX onto the one pin
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# default Serial2 to FrSky telemetry
define HAL_SERIAL2_PROTOCOL 10

# USART6, telem1, SERIAL1
PC6 USART6_TX USART6
PC7 USART6_RX USART6

# UART4 (GPS), SERIAL3
PA1 UART4_RX UART4 NODMA
PA0 UART4_TX UART4 NODMA

# UART5 (ESC telemetry sensor), SERIAL4
PD2 UART5_RX UART5

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USB detection
PA8 VBUS INPUT OPENDRAIN

# debug 
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# PWM out pins. Note that channel order follows the ArduPilot motor
# order conventions
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
PA3 TIM5_CH4 TIM5 PWM(3) GPIO(52)
PA2 TIM5_CH3 TIM5 PWM(4) GPIO(53)

PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # LED strip
define HAL_NEOPIXEL_COUNT 8

define HAL_STORAGE_SIZE 15360
define STORAGE_FLASH_PAGE 2

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

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

# SPI devices
SPIDEV mpu6000   SPI1 DEVID1 ICM20689_CS MODE3 1*MHZ 8*MHZ 
SPIDEV dataflash SPI3 DEVID1 FLASH_CS    MODE3 32*MHZ 32*MHZ
SPIDEV osd       SPI3 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180

# one baro
BARO BMP280 I2C:0:0x76

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH

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

# 8 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 8