# hw definition file for processing by chibios_hwdef.py
# for VRUBRAINv51 hardware

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51

# MCU class and specific type
MCU STM32F4xx STM32F407xx

# board ID for firmware load
APJ_BOARD_ID 1351

# crystal frequency
OSCILLATOR_HZ 8000000

# flash size
FLASH_SIZE_KB 1024


# USB setup
USB_VENDOR 0x27AC
USB_PRODUCT 0x1351
USB_STRING_MANUFACTURER "Laser Navigation"

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# only one I2C bus
I2C_ORDER I2C2 I2C1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART3 USART2 USART1
STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600


 PA0  BUZZER OUTPUT LOW GPIO(32)
 PA1  TIM2_CH2 TIM2 PWM(1)  GPIO(50)
 PA2  TIM2_CH3 TIM2 PWM(2)  GPIO(51)
 PA3  TIM2_CH4 TIM2 PWM(3)  GPIO(52)
 PA4  SDCARD_CS CS
 PA5  SPI1_SCK SPI1
 PA6  SPI1_MISO SPI1
 PA7  SPI1_MOSI SPI1
#PA8
 PA9  VBUS INPUT
#P10
 PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
#PA15

 PB0  TIM3_CH3 TIM3 PWM(5)  GPIO(54)
 PB1  TIM3_CH4 TIM3 PWM(6)  GPIO(55)
#PB2
 PB3  LED_EXT3  OUTPUT GPIO(30)
 PB4  LED_EXT4  OUTPUT GPIO(31)
 PB5  TIM3_CH2 TIM3 PWM(4)  GPIO(53)
 PB6  USART1_TX USART1
 PB7  USART1_RX USART1
 PB8  I2C1_SCL I2C1
 PB9  I2C1_SDA I2C1
 PB10 I2C2_SCL I2C2
 PB11 I2C2_SDA I2C2
#PB12
 PB13 SPI2_SCK SPI2
 PB14 SPI2_MISO SPI2
 PB15 SPI2_MOSI SPI2

 PC0  BATT_VOLTAGE_SENS ADC1
#PC1
#PC2
#PC3
#PC4
 PC5  LED_GREEN OUTPUT GPIO(25)
#PC6
 PC7  TIM8_CH2 TIM8 RCIN PULLDOWN LOW
 PC8  RELAY_1   OUTPUT LOW GPIO(33)
 PC9  RELAY_2   OUTPUT LOW GPIO(34)
 PC10 SPI3_SCK SPI3
 PC11 SPI3_MISO SPI3
 PC12 SPI3_MOSI SPI3
#PC13
#PC14
#PC15

#PD0
#PD1
#PD2
#PD3
#PD4
 PD5  USART2_TX USART2
 PD6  USART2_RX USART2
 PD7  SBUS_INV OUTPUT
 PD8  USART3_TX USART3
 PD9  USART3_RX USART3
#PD10
#PD11
 PD12 TIM4_CH1 TIM4 PWM(8)  GPIO(57)
 PD13 TIM4_CH2 TIM4 PWM(7)  GPIO(56)
 PD15 LED_RED   OUTPUT GPIO(27)
 PD14 LED_BLUE  OUTPUT GPIO(26)

 PE0  BARO_CS CS
#PE1
 PE2  LED_EXT1  OUTPUT GPIO(29)
 PE3  LED_EXT2  OUTPUT GPIO(28)
#PE4
#PE5  TIM9_CH1 TIM9 PWM(13) GPIO(62)
#PE6  TIM9_CH2 TIM9 PWM(14) GPIO(63)
#PE7
#PE8
 PE9  TIM1_CH1 TIM1 PWM(9)  GPIO(58)
 PE10 MPU_CS CS
 PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
#PE12
 PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60)
 PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
#PE15

# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
SPIDEV ms5611      SPI1 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
SPIDEV mpu6000     SPI2 DEVID4  MPU_CS     MODE3   2*MHZ   8*MHZ
#SPIDEV ramtron     SPI3 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ
SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ

define HAL_CHIBIOS_ARCH_UBRAINV51 1

define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

define HAL_STORAGE_SIZE      15360
STORAGE_FLASH_PAGE    2
# reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64

# enable RAMTROM parameter storage
#define HAL_WITH_RAMTRON 1

define AP_PARAM_MAX_EMBEDDED_PARAM 1024

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

define HAL_GPIO_A_LED_PIN  25
define HAL_GPIO_B_LED_PIN  26
define HAL_GPIO_C_LED_PIN  27
define EXTERNAL_LED_GPS    28
define EXTERNAL_LED_ARMED  29
define EXTERNAL_LED_MOTOR1 30
define EXTERNAL_LED_MOTOR2 31

define RELAY1_PIN_DEFAULT  33
define RELAY2_PIN_DEFAULT  34
#define RELAY3_PIN_DEFAULT  35

define HAL_BUZZER_PIN 32
define HAL_BUZZER_ON  1
define HAL_BUZZER_OFF 0

# battery setup
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN -1
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

define STM32_PWM_USE_ADVANCED TRUE

# save some flash
define HAL_GENERATOR_ENABLED 0
define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
define HAL_BARO_WIND_COMP_ENABLED 0
define HAL_RUNCAM_ENABLED 0
define HAL_SPEKTRUM_TELEM_ENABLED 0
define HAL_SOARING_ENABLED 0
define AP_OPTICALFLOW_ENABLED 0
define AP_ICENGINE_ENABLED 0

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