ardupilot/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat

# hw definition file for SpeedyBee F4 WING hardware
# tested on the Speedybee F405 WING board
#

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1106

# crystal frequency
OSCILLATOR_HZ 8000000

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32

# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
FLASH_RESERVE_START_KB 64
FLASH_SIZE_KB 1024

define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# only one I2C bus
I2C_ORDER I2C1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6

# LEDs
PA13 LED_GREEN OUTPUT LOW GPIO(0)
PA14 LED_BLUE OUTPUT LOW GPIO(1)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1

# buzzer
PC15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80



# spi1 bus for IMU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 MPU_CS CS

# spi2 for OSD
PB13 SPI2_SCK SPI2
PC2  SPI2_MISO SPI2
PC3  SPI2_MOSI SPI2
PB12 OSD_CS CS

# spi3 for  sdcard
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
PC14 SDCARD_CS CS

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

# analog pins
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC4 RSSI_ADC_PIN      ADC1 SCALE(1)

PC5 PRESSURE_SENS     ADC1 SCALE(1)
define HAL_DEFAULT_AIRSPEED_PIN 15

# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11.05 # matched to PDB board
define HAL_BATT_CURR_SCALE 50    # matched to PDB board

# analog rssi pin
define BOARD_RSSI_ANA_PIN 14

# USART1 (ELRS)
PA9 USART1_TX USART1
PA10 USART1_RX USART1


# USART2 (RCIN with inverter)

PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW

# alternative with PA3 as USART2_RX
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA ALT(1)

# USART3 (GPS)
PC10 USART3_TX USART3
PC11 USART3_RX USART3 NODMA

# UART4 serial4
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA

# USART5 (DJI / VTX)
PC12 UART5_TX UART5
PD2  UART5_RX UART5 NODMA

# UART6 (onboard Telemetry)
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_BAUD 115

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# PWM out pins. Note that channel order follows the ArduPilot motor
# order conventions
PB7  TIM4_CH2  TIM4 PWM(1) GPIO(50)
PB6  TIM4_CH1  TIM4 PWM(2) GPIO(51)
PB0  TIM3_CH3  TIM3 PWM(3) GPIO(52)
PB1  TIM3_CH4  TIM3 PWM(4) GPIO(53)
PC8  TIM8_CH3  TIM8 PWM(5) GPIO(54)
PC9  TIM8_CH4  TIM8 PWM(6) GPIO(55)
PB14 TIM8_CH2N TIM8 PWM(7) GPIO(56)

PA15 TIM2_CH1  TIM2 PWM(8) GPIO(57)
PB10 TIM2_CH3  TIM2 PWM(9) GPIO(58)
PB11 TIM2_CH4  TIM2 PWM(10) GPIO(59)

PB15 TIM1_CH3N TIM1 PWM(11) GPIO(60)
PA8  TIM1_CH1  TIM1 PWM(12) GPIO(61)# LED

# one IMU
IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# one baro
BARO SPL06  I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_SPL06_ENABLED 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

# ICM42688P on SPI1
SPIDEV icm42605 SPI1 DEVID1  MPU_CS  MODE3  2*MHZ  8*MHZ

# OSD on SPI2
SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ

# SD Card on SPI3
SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ

# filesystem setup on sdcard
define HAL_OS_FATFS_IO 1

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

define STM32_PWM_USE_ADVANCED TRUE

# reduce max size of embedded params for apj_tool.py
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
define HAL_WITH_DSP FALSE

# save some flash

# disable SMBUS and fuel battery monitors to save flash
define AP_BATTMON_SMBUS_ENABLE 0
define AP_BATTMON_FUEL_ENABLE 0
define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0
define HAL_BATTMON_INA2XX_ENABLED 0

# disable parachute and sprayer to save flash
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0
define AP_GRIPPER_ENABLED 0
define HAL_GENERATOR_ENABLED 0
define AP_ICENGINE_ENABLED 0
#define LANDING_GEAR_ENABLED 0
define WINCH_ENABLED 0
define HAL_ADSB_ENABLED  0

define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
#define HAL_BARO_WIND_COMP_ENABLED 0
define AP_OPTICALFLOW_ENABLED 0


# Disable un-needed hardware drivers
define HAL_WITH_ESC_TELEM 0
define AP_FETTEC_ONEWIRE_ENABLED 0

define AP_VOLZ_ENABLED 0
define AP_ROBOTISSERVO_ENABLE 0
define HAL_PICCOLO_CAN_ENABLE 0
define HAL_TORQEEDO_ENABLED 0
define HAL_RUNCAM_ENABLED 0
define HAL_HOTT_TELEM_ENABLED 0
define HAL_NMEA_OUTPUT_ENABLED 0
define HAL_BUTTON_ENABLED 0
define AP_NOTIFY_OREOLED_ENABLED 0

#only support MS4525 ANALOG ASP5033 driver
define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
define AP_AIRSPEED_MS4525_ENABLED 1
define AP_AIRSPEED_ANALOG_ENABLED 1
define AP_AIRSPEED_ASP5033_ENABLED 1

#only support UBLOX and NMEA GPS driver
define AP_GPS_BACKEND_DEFAULT_ENABLED 0 
define AP_GPS_UBLOX_ENABLED 1
define AP_GPS_NMEA_ENABLED 1

define AP_TRAMP_ENABLED 1

define DEFAULT_NTF_LED_TYPES 257