ardupilot/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef.dat

# hw definition file for SpeedyBee F4 v3 hardware
# tested on the Speedybee F4 v3 board
# with thanks to betaflight for pinout

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1082

# crystal frequency
OSCILLATOR_HZ 8000000

define STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 1024

# only one I2C bus
I2C_ORDER I2C2

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

# LEDs
PC8 LED_BLUE OUTPUT LOW GPIO(0)

define HAL_GPIO_A_LED_PIN 0

# buzzer
PC5 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 BMI270_CS CS

# spi2 for OSD and sdcard
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 MAX7456_CS CS
PA15 SDCARD_CS CS

# only one I2C bus in normal config
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# analog pins
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC2 RSSI_ADC_PIN ADC1 SCALE(1)

# 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 11.2 # matched to ESC output
define HAL_BATT_CURR_SCALE 52.7 # appropriate for a T-Motor F55A Pro II

# analog rssi pin
define BOARD_RSSI_ANA_PIN 12

# USART1 (DJI / VTX)
PA9 USART1_TX USART1
PA10 USART1_RX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV

# USART2 (RCIN)
PA2 USART2_TX USART2
PA3 USART2_RX USART2
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN

# USART3 (CAM)
PC10 USART3_TX USART3 NODMA
PC11 USART3_RX USART3 NODMA
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None

# UART4 (Bluetooth)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None

# UART5 (ESC Telemetry)
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
define DEFAULT_SERIAL5_BAUD 19200

# UART6 (GPS)
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
define DEFAULT_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD

# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# PWM out pins. Note that channel order follows the ArduPilot motor
# order conventions
PB6  TIM4_CH1 TIM4 PWM(1) GPIO(50)
PB7  TIM4_CH2 TIM4 PWM(2) GPIO(51)
PB8  TIM4_CH3 TIM4 PWM(3) GPIO(52)
PB9  TIM4_CH4 TIM4 PWM(4) GPIO(53)
PB0  TIM3_CH3 TIM3 PWM(5) GPIO(54)
PB1  TIM3_CH4 TIM3 PWM(6) GPIO(55)
PB5  TIM3_CH2 TIM3 PWM(7) GPIO(56)
PB4  TIM3_CH1 TIM3 PWM(8) GPIO(57)
PC9  TIM8_CH4 TIM8 PWM(9) GPIO(58) # LED

# OSD pad for TTL based OSD control, not supported by AP
PB3 CAM_C OUTPUT LOW GPIO(83)        # labelled as "CC"

define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# reserve 16k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 48

# one IMU
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180

# built-in barometer
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

# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12

# SPI devices
SPIDEV bmi270    SPI1 DEVID1 BMI270_CS MODE3 1*MHZ 8*MHZ 
SPIDEV osd       SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
SPIDEV sdcard    SPI2 DEVID2 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/font*.bin

# minimal drivers to reduce flash usage
include ../include/minimal.inc
include ../include/no_bootloader_DFU.inc
define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0

define DEFAULT_NTF_LED_TYPES 257