From 9f53ae1ea45f232d62ff100683d605bbfd64419b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2018 16:07:01 +1100
Subject: [PATCH] HAL_ChibiOS: added F412-rev1 hwdef.dat

---
 .../hwdef/skyviper-f412-rev1/hwdef.dat        | 142 ++++++++++++++++++
 .../hwdef/skyviper-f412/hwdef.dat             |   8 +
 2 files changed, 150 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
new file mode 100644
index 0000000000..aa67575e2a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
@@ -0,0 +1,142 @@
+# hw definition file for processing by chibios_pins.py
+# old F412 layout
+
+MCU STM32F4xx STM32F412Rx
+
+# board ID for firmware load
+APJ_BOARD_ID 9
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+STM32_HSE_ENABLED FALSE
+STM32_PLLM_VALUE 16
+STM32_PLLN_VALUE 384
+STM32_PLLP_VALUE 4
+STM32_PLLQ_VALUE 8
+STM32_PLLSRC STM32_PLLSRC_HSI
+STM32_PREE1  STM32_PREE1_DIV2
+STM32_PREE2  STM32_PREE2_DIV1
+
+STM32_PWM_USE_TIM3 TRUE
+
+# board voltage
+STM32_VDD 330U
+
+RAM_SIZE_KB 256
+
+# flash size
+FLASH_SIZE_KB 1024
+
+# serial port for stdout
+STDOUT_SERIAL SD2
+STDOUT_BAUDRATE 115200
+
+# order of I2C buses
+I2C_ORDER I2C2 I2C1
+
+# order of UARTs
+UART_ORDER USART2 USART6 USART3
+
+PC0 MGND ADC1
+PC1 PWM4_SENSE ADC1
+PC2 PWM2_SENSE ADC1
+PC3 PWM1_SENSE ADC1
+PA0 PWM3_SENSE ADC1
+
+# USART2 is for debug
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+PA4 BATT_MON ADC1
+
+# SPI1 is radio
+PA5 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA15 RADIO_CS CS
+PC4 RADIO_CE OUTPUT
+PC5 RADIO_PA_CTL OUTPUT
+
+# SPI5 is flow
+PB0 SPI5_SCK SPI5
+PA12 SPI5_MISO SPI5
+PA10 SPI5_MOSI SPI5
+PB1 FLOW_CS CS
+
+PB2 BOOT1 INPUT
+
+# I2C2 is GPS/mag
+PB10 I2C2_SCL I2C2
+PB3 I2C2_SDA I2C2
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# I2C1 is 20789
+PB9 I2C1_SDA I2C1
+PB8 I2C1_SCL I2C1
+
+PB7 LEDF OUTPUT HIGH GPIO(0)
+PB6 LEDR OUTPUT HIGH GPIO(1)
+
+PB5 TIM3_CH2 TIM3 PWM(2) # marked CN15 front-right
+
+PD2 RADIO_IRQ INPUT
+
+# USART3 is sonix
+PC11 USART3_RX USART3
+PC10 USART3_TX USART3
+
+# USART6 is for GPS
+PA11 USART6_TX USART6
+PC7 USART6_RX USART6
+
+PA8 OF_MOTION INPUT
+PC9 TIM3_CH4 TIM3 PWM(4) # marked CN17, rear-right
+PC8 TIM3_CH3 TIM3 PWM(3) # marked CN13, rear-left
+PC6 TIM3_CH1 TIM3 PWM(1) # marked CN3, front-left
+
+# SPI2 is MPU
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+PB12 MPU_CS CS
+
+# SPI Device table
+SPIDEV cypress    SPI1 DEVID1 RADIO_CS MODE0 2*MHZ 2*MHZ
+SPIDEV cc2500     SPI1 DEVID1 RADIO_CS MODE0 4*MHZ 4*MHZ
+SPIDEV pixartflow SPI5 DEVID2 FLOW_CS  MODE3 2*MHZ 2*MHZ
+SPIDEV icm20789   SPI2 DEVID4 MPU_CS   MODE3 1*MHZ 8*MHZ 
+
+# reserve 16k for bootloader and 32k for storage
+FLASH_RESERVE_START_KB 48
+
+define HAL_CHIBIOS_ARCH_F412 1
+
+define HAL_INS_DEFAULT HAL_INS_ICM20789_SPI
+define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
+
+# radio IRQ is on PD2
+define HAL_GPIO_RADIO_IRQ         2
+define HAL_GPIO_INTERRUPT_PORT EXT_MODE_GPIOD
+
+define HAL_RCINPUT_WITH_AP_RADIO 1
+define STORAGE_FLASH_PAGE	 1
+define HAL_STORAGE_SIZE 16384
+
+# setup defines for ArduCopter config
+define TOY_MODE_ENABLED ENABLED
+define ARMING_DELAY_SEC 0
+define LAND_START_ALT 700
+define LAND_DETECTOR_ACCEL_MAX 2.0f
+
+define CHIBIOS_ADC_MAVLINK_DEBUG 1
+
+define HAL_COMPASS_DEFAULT HAL_COMPASS_BMM150_I2C
+define HAL_COMPASS_BMM150_I2C_BUS   0
+define HAL_COMPASS_BMM150_I2C_ADDR  0x10
+
+define HAL_BARO_DEFAULT HAL_BARO_20789_I2C_SPI
+define HAL_BARO_20789_I2C_BUS           1
+define HAL_BARO_20789_I2C_ADDR_PRESS 0x63
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
index 8cba68eefc..f946057939 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
@@ -119,3 +119,11 @@ define LAND_DETECTOR_ACCEL_MAX 2.0f
 
 define CHIBIOS_ADC_MAVLINK_DEBUG 1
 
+define HAL_COMPASS_DEFAULT HAL_COMPASS_BMM150_I2C
+define HAL_COMPASS_BMM150_I2C_BUS   0
+define HAL_COMPASS_BMM150_I2C_ADDR  0x10
+
+define HAL_BARO_DEFAULT HAL_BARO_20789_I2C_I2C
+define HAL_BARO_20789_I2C_BUS           1
+define HAL_BARO_20789_I2C_ADDR_PRESS 0x63
+define HAL_BARO_20789_I2C_ADDR_ICM   0x68