ardupilot/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat

# hw definition file for processing by chibios_pins.py
# Omnibus F4 Nano V6 only
# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, no flash log storage

MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 133

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

# board voltage
STM32_VDD 330U

STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 64

# order of I2C buses
I2C_ORDER I2C2

# order of UARTs
UART_ORDER OTG1 USART6 USART1 UART4

#adc
PC1 BAT_CURR_SENS ADC1 SCALE(1)
PC2 BAT_VOLT_SENS ADC1 SCALE(1)
PA0 RSSI_IN ADC1

#pwm output
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)


PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# note that this board needs PULLUP on I2C pins
PB10 I2C2_SCL I2C2 PULLUP
PB11 I2C2_SDA I2C2 PULLUP

# SPI2 for flash
PB15 SPI2_MOSI SPI2
PB14 SPI2_MISO SPI2
PB13 SPI2_SCK SPI2
PB12 FLASH_CS CS


PA10 USART1_RX USART1
PA9 USART1_TX USART1

PC6 USART6_TX USART6
PC7 USART6_RX USART6

# UART4 (ESC sensor)
PA1 UART4_RX UART4

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

PA15 OSD_CS CS
PB3 BMP280_CS CS
PC12 SPI3_MOSI SPI3
PC11 SPI3_MISO SPI3
PC10 SPI3_SCK SPI3

PA8 LED OUTPUT HIGH GPIO(41)

# passive buzzer disabled, timer 3 used for PWM(4) output
#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM

# use active buzzer instead
PB4 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC5 VBUS INPUT OPENDRAIN

#LED strip output pad used for RC input
PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW

#Omnibus F4 V3 and later had hw inverter on UART6
#Overide it to use as GPS UART port
PC8 SBUS_INVERT_RX OUTPUT LOW
PC9 SBUS_INVERT_TX OUTPUT LOW

# SPI Device table 
SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
SPIDEV bmp280     SPI3 DEVID3 BMP280_CS  MODE3 1*MHZ 8*MHZ
SPIDEV osd        SPI3 DEVID4 OSD_CS     MODE0 10*MHZ 10*MHZ
SPIDEV dataflash  SPI2 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSNANOV6

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_90

# one baro
BARO BMP280 SPI:bmp280

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0

define STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360


# define default battery setup 
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 18.2

#analog rssi pin (also could be used as analog airspeed input)
#PA0 - ADC123_CH0
define BOARD_RSSI_ANA_PIN 0


define HAL_GPIO_A_LED_PIN 41

define OSD_ENABLED ENABLED
define HAL_OSD_TYPE_DEFAULT 1

#To complementary channels work we define this
define STM32_PWM_USE_ADVANCED TRUE

define BOARD_PWM_COUNT_DEFAULT 4

#define CH_DBG_ENABLE_ASSERTS TRUE
#define CH_DBG_ENABLE_CHECKS TRUE
#define CH_DBG_SYSTEM_STATE_CHECK TRUE
#define CH_DBG_ENABLE_STACK_CHECK TRUE

#font for the osd
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin