ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for FMUv4 hardware

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4

# MCU class and specific type
MCU STM32F4xx STM32F427xx

# board ID for firmware load
APJ_BOARD_ID 11

# crystal frequency
OSCILLATOR_HZ 24000000

# board voltage
STM32_VDD 330U

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -O2

# serial port for stdout disabled, use USB console
# STDOUT_SERIAL SD7
# STDOUT_BAUDRATE 57600

# only one I2C bus
I2C_ORDER I2C1

# to match px4 we make the first bus number 1
define HAL_I2C_BUS_BASE 1
define HAL_I2C_INTERNAL_MASK 0

# order of UARTs (and USB)
UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7

# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
PA2 BATT_VOLTAGE_SENS ADC1
PA3 BATT_CURRENT_SENS ADC1
PA4 VDD_5V_SENS ADC1 SCALE(2)

# SPI1 is sensors bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

PA9 VBUS INPUT

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM

# control of spektrum power pin
PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
define HAL_GPIO_SPEKTRUM_PWR 70

# spektrum power is active low
define HAL_SPEKTRUM_PWR_ENABLED 0

# spektrum RC input pin, used as GPIO for bind for satellite receivers
PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
define HAL_GPIO_SPEKTRUM_RC 71

PB2 BOOT1 INPUT
PB5 VDD_BRICK_VALID INPUT

# USART1 is ESP8266
PB6 USART1_TX USART1
PB7 USART1_RX USART1
PA8 USART1_RTS USART1
# PE10 is not a hw CTS pin for USART1
PE10 8266_CTS INPUT

# make GPIOs for ESP8266 available via mavlink relay control as pins
# 60 to 63
PB4 8266_GPIO2 OUTPUT GPIO(60)
PE2 8266_GPI0 INPUT PULLUP GPIO(61)
PE5 8266_PD OUTPUT HIGH GPIO(62)
PE6 8266_RST OUTPUT HIGH GPIO(63)

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# SPI2 is FRAM
PB10 SPI2_SCK SPI2
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PC0 VBUS_VALID INPUT
PC1 RSSI_IN ADC1
PC2 MPU9250_CS CS
PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT PULLDOWN
PC5 VDD_PERIPH_EN OUTPUT HIGH
PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW # also USART6_RX for serial RC

PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
PC11 SDIO_D3 SDIO
PC12 SDIO_CK SDIO

PC13 SBUS_INV OUTPUT
PC14 20608_DRDY INPUT
PC15 20608_CS CS

PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PD2 SDIO_CMD SDIO

# USART2 serial2 telem1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2

PD7 BARO_CS CS

# USART3 serial3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD10 FRAM_CS CS
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3

PD15 MPU9250_DRDY INPUT

# UART8 serial4 FrSky
PE0 UART8_RX UART8
PE1 UART8_TX UART8

# allow this uart to be inverted for transmit under user control
# the polarity is the value to use on the GPIO to change the polarity
# to the opposite of the default
PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)

PE3 VDD_SENSORS_EN OUTPUT HIGH

# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)

PE12 MAG_DRDY INPUT
PE15 MAG_CS CS

# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
SPIDEV mpu9250     SPI1 DEVID4  MPU9250_CS MODE3   2*MHZ   4*MHZ
SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
SPIDEV lis3mdl     SPI1 DEVID5  MAG_CS     MODE3 500*KHZ 500*KHZ
SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ

define HAL_CHIBIOS_ARCH_FMUV4 1

define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

define HAL_STORAGE_SIZE        16384

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1

# fallback to flash is no FRAM fitted
define STORAGE_FLASH_PAGE 22

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

# pixracer has 3 LEDs, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

# LED setup for PixracerLED driver
PB11 LED_RED   OUTPUT GPIO(0)
PB1  LED_GREEN OUTPUT GPIO(1)
PB3  LED_BLUE  OUTPUT GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

# battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 3
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

# setup serial port defaults for ESP8266
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
define HAL_SERIAL5_BAUD 921600

# 6 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 6


# two IMUs
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensense SPI:mpu9250 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# 2 compasses. R15 has LIS3MDL instead of HMC5843
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90

# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# one barometer
BARO MS56XX SPI:ms5611_int