# hw definition file for processing by chibios_hwdef.py
# for BETAFLIGHTF4 hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID AP_HW_CrazyF405 

# 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

STM32_ST_USE_TIMER 5

# SPI devices

# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# Chip select pins
PA15 FLASH1_CS CS
PB12 OSD_CS CS
PA4 GYRO1_CS CS

# Beeper
PB4 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80

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

# USART1
PA10 USART1_RX USART1
PA9 USART1_TX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort

# USART2
PA2 USART2_TX USART2
PA3 USART2_RX USART2
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN

# USART6
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA

# I2C ports
I2C_ORDER I2C2

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2


# ADC ports

# ADC1
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 25.0
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_VOLT_SCALE 11.0
define HAL_BATT_MONITOR_DEFAULT 4

# MOTORS
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)       # M1
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)       # M2
PC9 TIM8_CH4 TIM8 PWM(3) GPIO(52)       # M3
PC8 TIM8_CH3 TIM8 PWM(4) GPIO(53)       # M4
PB6 TIM4_CH1 TIM4 PWM(5) GPIO(54)       # M5

# LEDs

PB5 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90
define AP_NOTIFY_GPIO_LED_ENABLED 1


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

define HAL_LOGGING_DATAFLASH_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 5

# IMU setup
SPIDEV bmi270    SPI1 DEVID1 GYRO1_CS      MODE3 2*MHZ 10*MHZ
IMU BMI270 SPI:bmi270 ROTATION_NONE
DMA_NOSHARE TIM3_UP TIM8_UP TIM4_UP SPI1*
DMA_PRIORITY TIM3_UP TIM8_UP TIM4_UP SPI1*

# Baro Setup
BARO BMP280 I2C:0:0x76

# 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