ardupilot/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat

# hw definition file for processing by chibios_pins.py
# for mini-pix hardware from RadioLink

# MCU class and specific type
MCU STM32F4xx STM32F405xx

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_MINIPIX

# board ID for firmware load
APJ_BOARD_ID 3

# crystal frequency
OSCILLATOR_HZ 24000000

# ChibiOS system timer
STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 1024

# board voltage
STM32_VDD 330U

# use USB for stdout, so no STDOUT_SERIAL
# STDOUT_SERIAL SD2
# STDOUT_BAUDRATE 57600

# only one I2C bus
I2C_ORDER I2C2 I2C1

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

# UART4 serial GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
PA4 VDD_5V_SENS ADC1 SCALE(2)
#SPI for MPU6500
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

PA9 VBUS INPUT OPENDRAIN

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM

PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM
PB2 BOOT1 INPUT

PB5 VDD_BRICK_VALID INPUT

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PC0 VBUS_VALID INPUT
PC1 RSSI_IN ADC1
PC2 LPS22HB_CS CS
PC3 LED_SAFETY OUTPUT
PC4 SAFETY_IN INPUT

PC7 TIM8_CH2 TIM8 RCIN PULLUP 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 MPU6500_DRDY INPUT
PC15 MPU6500_CS CS

PD2 SDIO_CMD SDIO

# USART2 serial2 telem2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 serial3 telem1
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD10 FRAM_CS CS
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3

PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)

PD15 LPS22HB_DRDY INPUT

PE3 VDD_SENSORS_EN OUTPUT HIGH

PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)

# SPI devices
SPIDEV mpu6000 SPI1 DEVID1 MPU6500_CS MODE3 1*MHZ 8*MHZ 
SPIDEV lps22h  SPI2 DEVID3 LPS22HB_CS MODE3 1*MHZ 10*MHZ
SPIDEV ramtron SPI2 DEVID4 FRAM_CS    MODE3 8*MHZ 8*MHZ

define HAL_BARO_DEFAULT HAL_BARO_LPS22H_SPI

define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180

# the mini-pix has a QMC5883L both internal and external, detected
# using HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL ROTATION_PITCH_180_YAW_270

define HAL_COMPASS_AUTO_ROT_DEFAULT 2

define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"

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

# LED setup is similar to PixRacer
define HAL_HAVE_PIXRACER_LED
PB1 LED_RED OUTPUT GPIO(0)
PC5 LED_GREEN OUTPUT GPIO(1)
PE12 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

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1