# hw definition file for processing by chibios_hwdef.py
# for SPEEDYBEEF405MINI hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1135

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# bootloader takes first sector
FLASH_RESERVE_START_KB 48

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1

# SPI devices

# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2
PB13 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2

# SPI3
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3

# Chip select pins
PC14 FLASH1_CS CS
PB12 OSD1_CS CS
PA4 GYRO1_CS CS

# Beeper
PC15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80

# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

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

# USART2 (RX/SBUS)
PA2 USART2_TX USART2
PA3 USART2_RX USART2
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN

# USART3
PC10 USART3_TX USART3
PC11 USART3_RX USART3
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)
PD2 UART5_RX UART5 NODMA
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry

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

# I2C ports
I2C_ORDER I2C1
# I2C1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# Servos
PB14 CAMERA1 OUTPUT GPIO(70) LOW
define RELAY2_PIN_DEFAULT 70

# ADC ports

# ADC1
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_VOLT_SCALE 11.0
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 40.0
PC5 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 15
define HAL_BATT_MONITOR_DEFAULT 4

# MOTORS
PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50)       # M1
PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2
PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR # M3
PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53)       # M4

# LEDs
PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54) # M5

PC13 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_LED_OFF 1

# Dataflash setup
SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ

define HAL_LOGGING_DATAFLASH_ENABLED 1

# OSD setup
SPIDEV osd SPI2 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# Barometer setup
BARO DPS310 I2C:0:0x76
        
# IMU setup

# IMU setup
SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ

IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
#DMA_NOSHARE TIM4_UP TIM3_UP SPI1*
DMA_PRIORITY TIM4* TIM3* SPI1*

# 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
define HAL_DEFAULT_INS_FAST_SAMPLE 3
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12

include ../include/minimize_fpv_osd.inc
AUTOBUILD_TARGETS Copter