# hw definition file for processing by chibios_hwdef.py
# for BETAFPVF405 hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1125

# 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
PB3 BARO1_CS CS
PB12 FLASH1_CS CS
PA15 OSD1_CS CS
PA4 GYRO1_CS CS

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

# SERIAL ports
SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 EMPTY USART6
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1 (GPS)
PA10 USART1_RX USART1
PA9 USART1_TX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS

define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None

# USART3 (ELRS)
PB10 USART3_TX USART3
PB11 USART3_RX USART3
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN

# UART4 (DJI)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_DJI_FPV

# USART6 (SBUS, inverted)
PC7 USART6_RX USART6

# I2C ports
I2C_ORDER
# Servos

# ADC ports

# ADC1
PC0 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 10
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 70.8
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) BIDIR # M2
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR # M3
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)       # M4

# LEDs
define AP_NOTIFY_GPIO_LED_1_ENABLED 1
PB5 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90
# LED strip
PB6 TIM4_CH1 TIM4 PWM(5) GPIO(56) # M7

# Dataflash setup
SPIDEV dataflash SPI2 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ

define HAL_LOGGING_DATAFLASH_ENABLED 1

# OSD setup
SPIDEV osd SPI3 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# BARO setup
SPIDEV baro  SPI3 DEVID2 BARO1_CS MODE3 1*MHZ 8*MHZ
BARO BMP280 SPI:baro
define HAL_BARO_ALLOW_INIT_NO_BARO 1
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_BMP280_ENABLED 1

# IMU setup
SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180_YAW_270
DMA_NOSHARE SPI1*
DMA_PRIORITY TIM3* TIM2* SPI1*

# 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 1
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12


include ../include/minimize_fpv_osd.inc
AUTOBUILD_TARGETS Copter