# hw definition file for processing by chibios_pins.py
# new SkyViper 2018 Journey

MCU STM32F4xx STM32F412Rx

# board ID for firmware load
APJ_BOARD_ID 9

# crystal frequency
OSCILLATOR_HZ 24000000

STM32_PWM_USE_TIM3 TRUE


# flash size
FLASH_SIZE_KB 1024

# serial port for stdout
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 115200

# order of I2C buses
I2C_ORDER I2C2 I2C1

# we need I2C clock at 400kHz for IMU
define HAL_I2C_MAX_CLOCK 400000

# run I2C bus thread at high priority for IMU
define APM_I2C_PRIORITY 181

# order of UARTs
SERIAL_ORDER USART1 USART2 EMPTY USART6

PC0 MGND ADC1
PC1 PWM4_SENSE ADC1
PC2 PWM2_SENSE ADC1
PC3 PWM1_SENSE ADC1
PA0 PWM3_SENSE ADC1

# USART2 is for sonix
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# SPI1 is radio
PA4 RADIO_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PC4 RADIO_CE OUTPUT
PC5 RADIO_PA_CTL OUTPUT
PB0 RADIO_IRQ INPUT GPIO(100)
PB1 BATT_MON ADC1 SCALE(11)
PB2 BOOT1 INPUT
PB10 I2C2_SCL I2C2
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1
PB7 LEDF OUTPUT HIGH GPIO(0)
PB6 LEDR OUTPUT HIGH GPIO(1)
PB5 TIM3_CH2 TIM3 PWM(2) # marked CN15 front-right
PB3 I2C2_SDA I2C2
PD2 OF_MOTION INPUT
PB4 OF_RESET OUTPUT HIGH

# USART6 is for GPS
PA11 USART6_TX USART6
PC7 USART6_RX USART6

# USART1 is for debug console
PA10 USART1_RX USART1
PA9 USART1_TX USART1

PC9 TIM3_CH4 TIM3 PWM(4) # marked CN17, rear-right
PC8 TIM3_CH3 TIM3 PWM(3) # marked CN13, rear-left
PC6 TIM3_CH1 TIM3 PWM(1) # marked CN3, front-left

# SPI2 is optical flow
PB15 SPI2_MOSI SPI2
PB14 SPI2_MISO SPI2
PB13 SPI2_SCK SPI2
PB12 FLOW_CS CS

# SPI Device table
SPIDEV cypress    SPI1 DEVID1 RADIO_CS MODE0 2*MHZ 2*MHZ
SPIDEV cc2500     SPI1 DEVID1 RADIO_CS MODE0 4*MHZ 4*MHZ
SPIDEV pixartflow SPI2 DEVID2 FLOW_CS  MODE3 2*MHZ 2*MHZ

# reserve 16k for bootloader and 32k for storage
FLASH_RESERVE_START_KB 48

define HAL_CHIBIOS_ARCH_F412 1

IMU Invensense I2C:1:0x68 ROTATION_NONE

# radio IRQ is on GPIO(100)
define HAL_GPIO_RADIO_IRQ 100

define HAL_RCINPUT_WITH_AP_RADIO 1
STORAGE_FLASH_PAGE	 1
define HAL_STORAGE_SIZE 15360

# setup defines for ArduCopter config
define TOY_MODE_ENABLED ENABLED
define ARMING_DELAY_SEC 0
define LAND_START_ALT 700
define LAND_DETECTOR_ACCEL_MAX 2.0f
define ALLOW_ARM_NO_COMPASS

COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE

define HAL_BARO_DEFAULT HAL_BARO_20789_I2C_I2C
define HAL_BARO_20789_I2C_BUS           1
define HAL_BARO_20789_I2C_ADDR_PRESS 0x63
define HAL_BARO_20789_I2C_ADDR_ICM   0x68

# unstick 20789 on I2C on boot
define HAL_I2C_CLEAR_BUS

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412

# the web UI uses an abin file for firmware uploads
env BUILD_ABIN True

# need more space for default parameters
define AP_PARAM_MAX_EMBEDDED_PARAM 8192

# Disable un-needed hardware drivers
define HAL_WITH_ESC_TELEM 0
define AP_FETTEC_ONEWIRE_ENABLED 0