# hw definition file for processing by chibios_pins.py
# for crazyflie2.0 hardware (see bitcraze.io)

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 12

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_CRAZYFLIE2

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

define STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 1024

# board voltage
STM32_VDD 330U

# use USB for stdout
#STDOUT_SERIAL SD3
#STDOUT_BAUDRATE 57600

# usart2
PA2 USART2_TX USART2 # E_TX2
PA3 USART2_RX USART2 # E_RX2

# external SPI on SPI1
PA5 SPI1_SCK SPI1  # E_SCK
PA6 SPI1_MISO SPI1 # E_MISO
PA7 SPI1_MOSI SPI1 # E_MOSI

# I2C3 is for IMU
PA8 I2C3_SCL I2C3
PC9 I2C3_SDA I2C3

# USB port
PA10 USB_ID INPUT
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# stlink/jtag
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

PA1  TIM2_CH2 TIM2 PWM(1) # front-right
PB11 TIM2_CH4 TIM2 PWM(4) # rear-right
PA15 TIM2_CH1 TIM2 PWM(2) # rear-left
PB9  TIM4_CH4 TIM4 PWM(3) # front-left

PC13 MPU_INT INPUT
PC14 MPU_FSYNC OUTPUT LOW

# LEDs
PD2 LED_BLUE OUTPUT HIGH
PC0 LED_RED_L OUTPUT HIGH
PC1 LED_GREEN_L OUTPUT HIGH
PC2 LED_GREEN_R OUTPUT HIGH
PC3 LED_RED_R OUTPUT HIGH

# misc pins, unused
#PH0 OSC_IN
#PH1 OSC_OUT
#PB2 BOOT1
# PB3 STM_SWO

# CS pins for external SPI devices
PC12 E_CS0 CS
PB4 E_CS1 CS
PB5 E_CS2 CS
PB8 E_CS3 CS

# external I2C on I2C1
PB6 I2C1_SCL I2C1 # E_SCL
PB7 I2C1_SDA I2C1 # E_SCL

# radio setup 
PA4 NRF_FLOW_CTRL INPUT # goes low when we can write to uart
#PB13 NRF_SWCLK
#PB15 NRF_SWIO
PC6 USART6_TX USART6 # NRF_RT
PC7 USART6_RX USART6 # NRF_RX

# USART3 for telemetry
PC10 USART3_TX USART3 # E_TX1
PC11 USART3_RX USART3 # E_RX1

# setup I2C order
I2C_ORDER I2C3 I2C1

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

# order of UARTs (and USB)
UART_ORDER OTG1 USART2 USART3 USART6

define HAL_STORAGE_SIZE 15360
define STORAGE_FLASH_PAGE 1

# reserve 32k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 64

define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
define HAL_INS_MPU60x0_I2C_BUS 0
define HAL_INS_MPU60x0_I2C_ADDR 0x69

define HAL_BARO_DEFAULT HAL_BARO_LPS25H_IMU_I2C
define HAL_BARO_LPS25H_I2C_BUS 0
define HAL_BARO_LPS25H_I2C_ADDR 0x5D
define HAL_BARO_LPS25H_I2C_IMU_ADDR HAL_INS_MPU60x0_I2C_ADDR

define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
define HAL_COMPASS_AK8963_I2C_BUS 0
define HAL_COMPASS_AK8963_I2C_ADDR 0x0c

define ALLOW_ARM_NO_COMPASS

define MAG_BOARD_ORIENTATION ROTATION_YAW_180