# hw definition file for processing by chibios_pins.py
# Droneer F405
# With F405 MCU, ICM42688P IMU and 7456 series OSD
# Based on DroneerF450 from Droneer

# MCU class and specific type.
MCU STM32F4xx STM32F405xx

HAL_CHIBIOS_ARCH_F405 1

# board ID for firmware load
APJ_BOARD_ID 5800

# crystal frequency
OSCILLATOR_HZ 8000000

# board voltage
STM32_VDD 330U

STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 16

# order of I2C buses
I2C_ORDER I2C1

# order of UARTs (and USB)
# this order follows the labels on the board
# namely COMPUTER, PPM/SBUS (configurable as USART), TX3/RX3, TX6/RX6
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 

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

# USART1(VTX)
PA9  USART1_TX USART1 NODMA
PA10 USART1_RX USART1 NODMA
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_Tramp

# USART2, RC input
PA2 USART2_TX USART2 
PA3 USART2_RX USART2
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN

# default to timer for RC input
#PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW

# USART3
PC10  USART3_TX USART3 NODMA
PC11  USART3_RX USART3 NODMA
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None

# UART4
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA

# UART5
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA

define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry

# The pins for SWD debugging with a STlinkv2 or black-magic probe (not tested)
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD



# PWM output. 1 - 8 on ESC header
# --------------------- PWM -----------------------
PC6  TIM8_CH1   TIM8  PWM(1)  GPIO(50) BIDIR
PC7  TIM8_CH2   TIM8  PWM(2)  GPIO(51)
PC8  TIM8_CH3   TIM8  PWM(3)  GPIO(52)
PC9  TIM8_CH4   TIM8  PWM(4)  GPIO(53) BIDIR
PA15 TIM2_CH1   TIM2  PWM(5)  GPIO(54)
PA8  TIM1_CH1   TIM1  PWM(6)  GPIO(55)
PB10 TIM2_CH3   TIM2  PWM(7)  GPIO(56)
PB11 TIM2_CH4   TIM2  PWM(8)  GPIO(57) 

PB1  TIM3_CH4   TIM3  PWM(9)  GPIO(58)

# Board LEDs
PC13 LED_GREEN OUTPUT LOW GPIO(80)
define HAL_GPIO_A_LED_PIN 80

# External LEDs
#PB1 LED_STRIP OUTPUT GPIO(81) LOW
#define HAL_LED_STRIP_PIN 81

# Buzzer
#PB8 BUZZER OUTPUT GPIO(82) LOW
#define HAL_BUZZER_PIN 82

# Camera control
PA14 CAM_C OUTPUT HIGH GPIO(83)
define RELAY2_PIN_DEFAULT 83

# Note that this board needs PULLUP on I2C pins
PB6 I2C1_SCL I2C1 PULLUP
PB7 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
PB15 SPI2_MOSI SPI2
PB14 SPI2_MISO SPI2
PB13 SPI2_SCK SPI2
# OSD max7456
PA13 OSD_CS CS

# SPI3 - dataflash
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3
# Dataflash M25P16
PC0 FLASH_CS CS

# SPI Device table
SPIDEV icm42688   SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ
SPIDEV osd        SPI2 DEVID1 OSD_CS     MODE0 10*MHZ 10*MHZ
SPIDEV dataflash  SPI3 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ

# One IMU rotated in yaw
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270

# Probe for I2C SPL06
BARO SPL06  I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_SPL06_ENABLED 1
define HAL_BARO_ALLOW_INIT_NO_BARO 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 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64

# ADC
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC3 RSSI_ADC ADC1 SCALE(1)


# 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 30.2
define HAL_BATT_MONITOR_DEFAULT 4

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

DMA_PRIORITY TIM8* TIM3*

# minimal drivers to reduce flash usage
include ../include/minimize_fpv_osd.inc