ardupilot/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat

# hw definition file for processing by chibios_pins.py
# for Sparky2 hardware

# MCU class and specific type
MCU STM32F4xx STM32F405xx

RAM_SIZE_KB 128
CCM_RAM_SIZE_KB 64


# board ID for firmware load
APJ_BOARD_ID 70

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

define STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 1024

# board voltage
STM32_VDD 330U

# serial port for stdout via flexi-port (conn3)
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 115200

# --------LEDs-----------
PB5 LED_BLUE OUTPUT LOW GPIO(0)
PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
PB4 LED_RED OUTPUT LOW GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

# ---------I2C-------------
# only one I2C bus
I2C_ORDER I2C1

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# -------BARO-------------
define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
define HAL_BARO_MS5611_I2C_BUS 0
define HAL_BARO_MS5611_I2C_ADDR 0x77

# ---------USB-------------
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA8 VBUS INPUT OPENDRAIN

# ---------UARTS-----------
# order of UARTs (and USB)
UART_ORDER OTG1 USART1 USART3

# Main PORT
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# Flex PORT
PB10 USART3_TX USART3
PB11 USART3_RX USART3

# -------RCIN-------------
# Soft Serial for serial RC & PPM
PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW
PC6 SBUS_INVERT OUTPUT

# -------ADC-------------
analog pins
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)

# define default battery setup No Voltage Divider
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 13
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

# -----CAN BUS-------------
PB13 CAN2_TX CAN2
PB12 CAN2_RX CAN2

# -----spi bus for IMU-----
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PC4 MPU_CS CS
PC5 EXTI_MPU9250 INPUT PULLUP

# -----spi bus for FLASH-----
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
PB3 FLASH_CS CS

# -----USB & SWD-----------
# PA10 IO-debug-console
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# ----------PWM-----------
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)

# Buffered PWM N-Fets----
# Require inverter to use
# as standard pwm
# PC9 TIM8_CH4 TIM8 PWM(7)
# PC8 TIM8_CH3 TIM8 PWM(8)
# PB15 TIM8_CH3N TIM8 PWM(9)
PB14 TIM1_CH2N TIM1 PWM(7) GPIO(35)

define HAL_STORAGE_SIZE 8192
define STORAGE_FLASH_PAGE 1

FLASH_SIZE_KB 1024

# reserve 16k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64

define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250


# SPI devices
SPIDEV mpu9250        SPI1 DEVID4  MPU_CS       MODE3  1*MHZ  4*MHZ
SPIDEV dataflash      SPI3 DEVID1  FLASH_CS     MODE3  1*MHZ  8*MHZ

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_SPARKY2

define STM32_PWM_USE_ADVANCED TRUE

define BOARD_PWM_COUNT_DEFAULT 7