# hw definition file for processing by chibios_pins.py
# Mamba Basic F405 US I2C
# With F405 MCU, MPU6000 IMU and 7456 series OSD
# Based on Mamba F405 from jeanphilippehell
@ thanks to betaflight for pin information

MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1038

# crystal frequency
OSCILLATOR_HZ 8000000

# board voltage
STM32_VDD 330U

STM32_ST_USE_TIMER 5

# order of I2C buses
I2C_ORDER I2C1

# order of UARTs (and USB)
# this order follows the labels on the board
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6

# The pins that USB is connected on
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC5 VBUS INPUT OPENDRAIN

# USART1 is wired to SBUS and PPM input
# RC input defaults to timer capture
PB7 TIM4_CH2 TIM4 RCININT PULLDOWN
PB6 USART1_TX USART1 NODMA

# Alt config to allow RCIN on UART
PB7 USART1_RX USART1 NODMA ALT(1)

# SBUS inversion control pin, active low
PC0 USART1_RXINV OUTPUT HIGH GPIO(78) POL(0)

# USART2
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# USART3
PB10 USART3_TX USART3
PB11 USART3_RX USART3

# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA

# UART5
PC12 UART5_TX UART5
PD2 UART5_RX UART5 NODMA

# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6

# ADC
PC1 BAT_VOLT_SENS ADC1 SCALE(1)
PC2 RSSI_IN ADC1
PC3 BAT_CURR_SENS ADC1 SCALE(1)

# PWM output. 1 - 4 on ESC header
PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
PC9 TIM3_CH4 TIM3 PWM(3) GPIO(52)
PC8 TIM3_CH3 TIM3 PWM(4) GPIO(53)

# Board LEDs
PC15 LED1 OUTPUT LOW GPIO(1)
PC14 LED2 OUTPUT LOW GPIO(2)
define HAL_GPIO_A_LED_PIN 1
define HAL_GPIO_B_LED_PIN 2

# External LEDs
PB3 LED_EXT1 OUTPUT GPIO(30)

# Buzzer
PC13 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# Note that this board needs PULLUP on I2C pins
PB8 I2C1_SCL I2C1 PULLUP
PB9 I2C1_SDA I2C1 PULLUP

# SPI1 - Internal IMU
PA4 MPU6000_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 - OSD
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
# OSD max7456
PB12 OSD_CS CS

# SPI3 - dataflash
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
# Dataflash M25P16
PA15 FLASH_CS CS

# SPI Device table
SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
SPIDEV osd        SPI2 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
SPIDEV dataflash  SPI3 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ

# One IMU rotated in yaw
IMU Invensense SPI:mpu6000 ROTATION_YAW_90

# Probe for I2C BMP280 only
BARO BMP280 I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_BMP280_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
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1
define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# flash size
FLASH_SIZE_KB 1024
# reserve 16k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 48

# define default battery setup
define HAL_BATT_VOLT_PIN 11
define HAL_BATT_CURR_PIN 13
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 39

# Analog RSSI pin (also could be used as analog airspeed input)
define BOARD_RSSI_ANA_PIN 12

# Setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1

# Font for OSD
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin