# hw definition file for processing by chibios_hwdef.py
# for FLYWOOF405PRO hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1137

# 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 4
define CH_CFG_ST_RESOLUTION 16

# SPI devices

# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# Chip select pins
PB3 FLASH1_CS CS
PB14 OSD1_CS CS
PB12 GYRO1_CS CS

# Beeper
PC13 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1 (GPS)
PA10 USART1_RX USART1 NODMA
PB6 USART1_TX USART1 NODMA
DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS

# USART2 (ESC Telemetry)
PD6 USART2_RX USART2 NODMA
DEFAULT_SERIAL2_PROTOCOL SerialProtocol_ESCTelemetry

# USART3 (DJI)
PB10 USART3_TX USART3
PB11 USART3_RX USART3
DEFAULT_SERIAL3_PROTOCOL SerialProtocol_DJI_FPV

# UART4 (SBUS)
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA ALT(1)
PA1 TIM5_CH2 TIM5 RCININT PULLDOWN LOW

# UART5
# No suitable timer for this pin so cannot use RCININT
# and too difficult to get a DMA channel
PD2 UART5_RX UART5 NODMA
DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None

# USART6 (RCIN)
PC6 USART6_TX USART6
PC7 USART6_RX USART6
DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN

# I2C ports
I2C_ORDER I2C1
# I2C1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

BARO DPS310 I2C:0:0x76

# Servos

# ADC ports

# ADC1
PC0 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 10
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 12
define HAL_BATT_CURR_SCALE 58.8
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 13
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
PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54)       # M5
PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55)       # M6
PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56)       # M7
PC8 TIM8_CH3 TIM8 PWM(8) GPIO(57)       # M8

# LEDs
PA9 TIM1_CH2 TIM1 PWM(9) GPIO(58) # M9

define AP_NOTIFY_GPIO_LED_1_ENABLED 1
PC14 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90

# Dataflash setup
SPIDEV dataflash SPI3 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

# IMU setup

# IMU setup
SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
IMU Invensensev3 SPI:imu1 ROTATION_NONE
#DMA_NOSHARE TIM3_UP TIM2_UP TIM8_UP SPI1*
DMA_PRIORITY TIM3* TIM2* TIM8_UP SPI1* TIM1_UP

# 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