# Emlid Edge board

# IMUs:
IMU Invensense SPI:mpu60x0 ROTATION_YAW_90
IMU Invensense SPI:mpu60x0ext ROTATION_YAW_90
define INS_MAX_INSTANCES 3

# Compasses:
// only external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES


define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"

define HAL_NUM_CAN_IFACES 1

# heater support
define HAL_IMU_TEMP_DEFAULT 55
define HAL_HAVE_IMU_HEATER 1
define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
define HAL_LINUX_HEAT_PWM_NUM  15
define HAL_LINUX_HEAT_KP 20000
define HAL_LINUX_HEAT_KI 6
define HAL_LINUX_HEAT_PERIOD_NS 2040816

# default to DroneCAN GPS:
define HAL_GPS1_TYPE_DEFAULT 9

define HAL_CAN_DRIVER_DEFAULT 1

# this looks suspect:
define AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED 1

define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1

#            NAME         BUS SUBDEV MODE       BPW CS_PIN         LOWSPD HIGHSPD
LINUX_SPIDEV "mpu60x0"    0   1      SPI_MODE_0 8   SPI_CS_KERNEL  1*MHZ  11*MHZ
LINUX_SPIDEV "mpu60x0ext" 0   2      SPI_MODE_0 8   SPI_CS_KERNEL  1*MHZ  11*MHZ
LINUX_SPIDEV "ms5611"     0   0      SPI_MODE_0 8   SPI_CS_KERNEL  10*MHZ 10*MHZ

define HAL_LINUX_GPIO_EDGE_ENABLED 1

define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS | DRONECAN_LEDS)

define HAL_BATT_VOLT_PIN                  3
define HAL_BATT_CURR_PIN                  2
define HAL_BATT_VOLT_SCALE                18.62
define HAL_BATT_CURR_SCALE                62.98f

define AP_BATT2_VOLT_PIN                  5
define AP_BATT2_CURR_PIN                  4
define AP_BATT2_VOLTDIVIDER_DEFAULT       18.62
define AP_BATT2_CURR_AMP_PERVOLT_DEFAULT  62.98f