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

include ../fmuv5/hwdef.dat

undef APJ_BOARD_ID
APJ_BOARD_ID AP_HW_MUPilot

# extra LEDs, active low, used using the pixracer LED scheme
PH10 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
PH11 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1)
PH12 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)

undef AP_NOTIFY_GPIO_LED_RGB_RED_PIN
undef AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN

define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2

define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

define HAL_BATT_MONITOR_DEFAULT 4

#heaters
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45
define HAL_IMUHEAT_P_DEFAULT 50
define HAL_IMUHEAT_I_DEFAULT 0.07

undef PI6
PI6 MS5611_BOARD_CS CS

#SPI6 for extra BARO
PG13 SPI6_SCK SPI6
PG12 SPI6_MISO SPI6
PB5 SPI6_MOSI SPI6

SPIDEV ms5611_board SPI6 DEVID1 MS5611_BOARD_CS MODE3 20*MHZ 20*MHZ

undef BARO
BARO MS56XX SPI:ms5611
BARO MS56XX SPI:ms5611_board


undef IMU
undef PF11

PF11 ICM42688_CS CS SPEED_VERYLOW

SPIDEV icm42688       SPI1 DEVID2  ICM42688_CS  MODE3  2*MHZ  8*MHZ

IMU Invensense SPI:icm20689 ROTATION_NONE
IMU Invensense SPI:icm20602 ROTATION_NONE
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90