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

# hw definition file for processing by chibios_pins.py
# Omnibus F4 PRO, Omnibus F4 V3 boards
# with F405 mcu, mpu6000 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_PLLM_VALUE 8

# board voltage
STM32_VDD 330U

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
UART_ORDER OTG1 USART6 USART1

#adc
PC1 BAT_CURR_SENS ADC1 SCALE(1)
PC2 BAT_VOLT_SENS ADC1 SCALE(1)
PA0 RSSI_IN ADC1

#pwm output
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(26)
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(27)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(17)
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(16)
PA1 TIM2_CH2 TIM2 PWM(5) GPIO(15)
PA8 TIM1_CH1 TIM1 PWM(6) GPIO(41)

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

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

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 OUTPUT HIGH GPIO(57)
PB4 TIM3_CH1 TIM3 GPIO(56) ALARM

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

#Omnibus F4 V3 and later had hw inverter on UART6
#Overide it to use as GPS UART port
PC8 SBUS_INVERT_RX OUTPUT LOW
PC9 SBUS_INVERT_TX OUTPUT LOW

# SPI Device table 
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

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO

define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180

define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
define HAL_BARO_BMP280_NAME "bmp280"

define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
define HAL_COMPASS_HMC5843_I2C_BUS 0
define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E

define STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360

define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
define HAL_DATAFLASH_FILE_BUFSIZE 8
define HAL_DATAFLASH_MAV_BUFSIZE 2

# 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 HAL_GPIO_A_LED_PIN 57

define OSD_ENABLED ENABLED

#To complementary channels work we define this
define STM32_PWM_USE_ADVANCED TRUE

define BOARD_PWM_COUNT_DEFAULT 6

#define CH_DBG_ENABLE_ASSERTS TRUE
#define CH_DBG_ENABLE_CHECKS TRUE
#define CH_DBG_SYSTEM_STATE_CHECK TRUE
#define CH_DBG_ENABLE_STACK_CHECK TRUE

#font for the osd
ROMFS osd_font.bin libraries/AP_OSD/fonts/clarity.bin