ardupilot/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat

# hw definition file for processing by chibios_pins.py
# Mamba F405 MK2
# With F405 MCU, MPU6000 IMU and 7456 series OSD
# Based on Mamba F405 from jeanphilippehell
@ thanks to betaflight for pin information

# MCU class and specific type.
MCU STM32F4xx STM32F405xx

HAL_CHIBIOS_ARCH_F405 1

# board ID for firmware load
APJ_BOARD_ID 1019

# crystal frequency
OSCILLATOR_HZ 8000000

# board voltage
STM32_VDD 330U

STM32_ST_USE_TIMER 4
define CH_CFG_ST_RESOLUTION 16

# order of I2C buses
I2C_ORDER I2C1

# order of UARTs (and USB)
# this order follows the labels on the board
# namely COMPUTER, PPM/SBUS (configurable as USART), TX3/RX3, TX6/RX6
SERIAL_ORDER OTG1 USART1 EMPTY USART3 EMPTY EMPTY USART6

# The pins that USB is connected on
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC5 VBUS INPUT OPENDRAIN

# USART1 is wired to SBUS and PPM input
# RC input defaults to timer capture
PA10 TIM1_CH3 TIM1 RCININT PULLDOWN
PA9 USART1_TX USART1

# Alt config to allow RCIN on UART
PA10 USART1_RX USART1 ALT(1)
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN

# SBUS inversion control pin, active low
PC0 USART1_RXINV OUTPUT HIGH GPIO(78) POL(0)

define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None

# USART3 (VTX)
PB10 USART3_TX USART3
PB11 USART3_RX USART3
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Tramp

define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None

# USART6 (ESC Telemetry)
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry

# The pins for SWD debugging with a STlinkv2 or black-magic probe (not tested)
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# ADC
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 RSSI_ADC ADC1
PC3 BATT_CURRENT_SENS ADC1 SCALE(1)

# PWM output. 1 - 4 on ESC header
PA3 TIM2_CH4 TIM2 PWM(1) GPIO(50) BIDIR
PB0 TIM3_CH3 TIM3 PWM(2) GPIO(51)
PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)

# Board LEDs
define AP_NOTIFY_GPIO_LED_2_ENABLED 1
PB5 LED_BLUE OUTPUT LOW GPIO(1)
PB4 LED_GREEN OUTPUT LOW GPIO(2)
define HAL_GPIO_A_LED_PIN 1
define HAL_GPIO_B_LED_PIN 2

# External LEDs
PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)

# Buzzer
PA8 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80

# Camera control
PB9 CAM_C OUTPUT LOW GPIO(81)
define RELAY2_PIN_DEFAULT 81

# Note that this board needs PULLUP on I2C pins
PB6 I2C1_SCL I2C1 PULLUP
PB7 I2C1_SDA I2C1 PULLUP

# SPI1 - Internal IMU
PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 - OSD
PB15 SPI2_MOSI SPI2
PB14 SPI2_MISO SPI2
PB13 SPI2_SCK SPI2
# OSD max7456
PB12 OSD_CS CS

# SPI3 - dataflash
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
# Dataflash M25P16
PB3 FLASH_CS CS

# SPI Device table
SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm42688   SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ
SPIDEV dataflash  SPI3 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
SPIDEV osd        SPI2 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ

# One IMU rotated in yaw
IMU Invensense SPI:mpu6000 ROTATION_YAW_90
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180

# Probe for I2C BMP280
BARO BMP280 I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_BMP280_ENABLED 1
define HAL_BARO_ALLOW_INIT_NO_BARO 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

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1
define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# flash size
FLASH_SIZE_KB 1024
# reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64

# define default battery setup
define HAL_BATT_VOLT_PIN 11
define HAL_BATT_CURR_PIN 13
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 25.0
define HAL_BATT_MONITOR_DEFAULT 4

# Analog RSSI pin (also could be used as analog airspeed input)
define BOARD_RSSI_ANA_PIN 12

# Setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
# Font for the osd
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

DMA_PRIORITY TIM2* TIM3*

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