# MCU class and specific type
MCU STM32L4xx STM32L4R5xx

# board ID for firmware load
APJ_BOARD_ID 1090

# crystal frequency
OSCILLATOR_HZ 24000000

USB_STRING_MANUFACTURER "Dheeran labs"
USB_STRING_PRODUCT "PixFlamingo"

# ChibiOS system timer
STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 16


# flash size
FLASH_SIZE_KB 2048

FLASH_RESERVE_START_KB 28 
env OPTIMIZE -O2

# only one I2C bus
I2C_ORDER I2C2

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART3 USART1 UART4 

PC1 BATT_VOLTAGE_SENS ADC1 
PC0 BATT_CURRENT_SENS ADC1
PA4 VDD_5V_SENS ADC1 SCALE(2)

# SPI1 is fram bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

PA9 VBUS INPUT

PA11 USB_OTG_FS_DM OTG1
PA12 USB_OTG_FS_DP OTG1

# USART3 serial3 telem1
PC4 USART3_TX USART3 
PC5 USART3_RX USART3 
PB13 USART3_CTS USART3 
PB14 USART3_RTS USART3 

# USART1 serial1 telem2
PB6 USART1_TX USART1 
PB7 USART1_RX USART1 
PB4 USART1_CTS USART1 
PB3 USART1_RTS USART1 


# UART4 is GPS
PA0 UART4_TX UART4 
PA1 UART4_RX UART4 
define HAL_USE_SERIAL TRUE

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# PWM output for buzzer

PA15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80



PE2 BOOT1 INPUT
PD9 VDD_BRICK_VALID INPUT PULLDOWN

PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# SPI2 is for sensors
PD1 SPI2_SCK SPI2
PD3 SPI2_MISO SPI2
PD4 SPI2_MOSI SPI2

PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

PD0 IMU1_CS CS
PE0 GYRO_CS CS
PB5 BARO_CS CS
PD7 MAG_CS CS

# This defines more ADC inputs.
PC2 AUX_POWER ADC1 SCALE(1)
PC3 AUX_ADC2 ADC1 SCALE(1)
              
PD10 VBUS_VALID INPUT PULLDOWN
PB0 RSSI_IN ADC1 SCALE(1)
PE12 LED_SAFETY OUTPUT
PE15 SAFETY_IN INPUT PULLDOWN
PC14 VDD_PERIPH_EN OUTPUT HIGH

#PD6 RCININT PULLDOWN LOW # also USART6_RX for serial RC
PC7 SBUS_INV OUTPUT LOW

PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1


PE5 IMU1_DRDY INPUT
PE4 MAG_DRDY INPUT
PE6 GYRO_DRDY INPUT

PC13 VDD_SENSORS_EN OUTPUT HIGH


PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW

PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56)
PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
PB15 TIM15_CH2 TIM15 PWM(9) GPIO(59)


# SPI device table. 

SPIDEV icm42670    SPI2 DEVID1  IMU1_CS    MODE3  2*MHZ  8*MHZ
SPIDEV ms5611      SPI1 DEVID3  BARO_CS    MODE3  20*MHZ 20*MHZ
SPIDEV lis3mdl     SPI2 DEVID5  MAG_CS     MODE3 500*KHZ 500*KHZ
SPIDEV lsm9ds0_g   SPI2 DEVID4  GYRO_CS    MODE3  11*MHZ 11*MHZ

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

# pixracer has 3 LEDs, Red, Green, Blue
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

# LED setup for PixracerLED driver
PE8 LED_RED   OUTPUT GPIO(0)
PE7  LED_GREEN OUTPUT GPIO(1)
PB2  LED_BLUE  OUTPUT GPIO(2)

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

# battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 1
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

DMA_PRIORITY S*

define STORAGE_FLASH_PAGE 5
define HAL_STORAGE_SIZE 16384


# two IMUs
IMU Invensensev3 SPI:icm42670 ROTATION_YAW_270 
IMU LSM9DS0 SPI:lsm9ds0_g SPI:lsm9ds0_am ROTATION_ROLL_180 ROTATION_ROLL_180_YAW_270 ROTATION_PITCH_180

define HAL_DEFAULT_INS_FAST_SAMPLE 1

COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE

# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0

define STM32_I2C_USE_DMA FALSE
# one barometer
BARO MS56XX SPI:ms5611