# hw definition file for processing by chibios_hwdef.py
# for QioTekZealotF407 hardware from Qio-tek.com

# MCU class and specific type
MCU CKS32F4xx CKS32F407xx

# board ID for firmware load
APJ_BOARD_ID 1065

FLASH_SIZE_KB 1024

# reserve 16k for bootloader
FLASH_RESERVE_START_KB 16

# USB setup
USB_STRING_MANUFACTURER "Qiotek"

# crystal frequency
OSCILLATOR_HZ 8000000

# ChibiOS system timer
STM32_ST_USE_TIMER 5

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# this is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN
PA9 VBUS INPUT OPENDRAIN

# The normal usage of this ordering is:
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL1: telem1
# 3) SERIAL2: telem2 (recommend ESP8266)
# 4) SERIAL3: primary GPS
# 5) SERIAL4: telem3 or GPS2
# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)

SERIAL_ORDER OTG1 USART6 USART3 USART1 UART4 USART2

# UART3
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# USART2 for Mavlink2 wifi module set baudrate to 921600
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2

# USART1 for gps1
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# UART4
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA

# USART6
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA

# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# SPI1 for IMU Baro OSD
PA5  SPI1_SCK SPI1
PB4  SPI1_MISO SPI1
PB5  SPI1_MOSI SPI1
PD3  IMU1_CS CS
PD4  IMU2_CS CS
PD7  IMU3_CS CS
PB3  Baro1_CS CS
PE4  Baro2_CS CS
PE6  AT7456_CS CS

# SPI bus for dataflash
PB13 SPI2_SCK SPI2
PC2  SPI2_MISO SPI2
PC3  SPI2_MOSI SPI2
PC13 FRAM_CS CS SPEED_VERYLOW

# SPI devices
SPIDEV imu1           SPI1 DEVID1  IMU1_CS      MODE3   2*MHZ    8*MHZ
SPIDEV imu2           SPI1 DEVID2  IMU2_CS      MODE3   2*MHZ    8*MHZ
SPIDEV imu3           SPI1 DEVID3  IMU3_CS      MODE3   2*MHZ    8*MHZ
SPIDEV baro1          SPI1 DEVID2  Baro1_CS     MODE3   5*MHZ    5*MHZ
SPIDEV baro2          SPI1 DEVID1  Baro2_CS     MODE3   5*MHZ    5*MHZ
SPIDEV osd            SPI1 DEVID2  AT7456_CS    MODE0  10*MHZ   10*MHZ
SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE0   8*MHZ    8*MHZ

# four IMUs, adi16740 is used, then imu3 will be removed
IMU Invensensev3  SPI:imu1      ROTATION_NONE
IMU Invensensev3  SPI:imu2      ROTATION_NONE
IMU Invensense    SPI:imu2      ROTATION_PITCH_180

# two Baro sensors
BARO DPS280 SPI:baro1
#BARO DPS280 SPI:baro2

# define the pins for the microSD card.
PC8  SDIO_D0  SDIO
PC9  SDIO_D1  SDIO
PC10 SDIO_D2  SDIO
PC11 SDIO_D3  SDIO
PC12 SDIO_CK  SDIO
PD2  SDIO_CMD SDIO

# enable FAT filesystem support
define HAL_OS_FATFS_IO 1

# now some defines for logging and terrain data files
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

# define the order that I2C buses
I2C_ORDER I2C1 I2C2
PB8  I2C1_SCL I2C1
PB9  I2C1_SDA I2C1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# look for I2C compass
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180
COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 1

# PWM out pins
PA6  TIM3_CH1 TIM3 PWM(1)  GPIO(50)
PA7  TIM3_CH2 TIM3 PWM(2)  GPIO(51)
PB0  TIM3_CH3 TIM3 PWM(3)  GPIO(52)
PB1  TIM3_CH4 TIM3 PWM(4)  GPIO(53)
PE9  TIM1_CH1 TIM1 PWM(5)  GPIO(54)
PE11 TIM1_CH2 TIM1 PWM(6)  GPIO(55)
PE13 TIM1_CH3 TIM1 PWM(7)  GPIO(56)
PE14 TIM1_CH4 TIM1 PWM(8)  GPIO(57)

PD12 TIM4_CH1 TIM4 PWM(9)  GPIO(58)
PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)

PE7 EXTERN_GPIO1 OUTPUT GPIO(1)
PE8 EXTERN_GPIO2 OUTPUT GPIO(2)
PE2 EXTERN_GPIO3 OUTPUT GPIO(3)
PE3 EXTERN_GPIO4 OUTPUT GPIO(4)
PE1 EXTERN_GPIO5 OUTPUT GPIO(5)
PE0 EXTERN_GPIO6 OUTPUT GPIO(6)

# also USART6_RX for serial RC
PA15 TIM2_CH1 TIM2 RCININT PULLDOWN LOW

# LED setup is similar to PixRacer
define HAL_HAVE_PIXRACER_LED
PE10 LED_RED   OUTPUT GPIO(10)
PE12 LED_GREEN OUTPUT GPIO(11)
PE15 LED_BLUE  OUTPUT GPIO(12)

define HAL_GPIO_A_LED_PIN 10
define HAL_GPIO_B_LED_PIN 11
define HAL_GPIO_C_LED_PIN 12

# analog in 6.6V
PC1 ADC_1 ADC1 SCALE(2)

# define the primary battery connectors.
PA3 BATT_CURRENT_SENS ADC1 SCALE(2)
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(2)
PC5 BATT2_CURRENT_SENS ADC1 SCALE(2)
PC4 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
PA4 VDD_5V_SENS ADC1 SCALE(2)
PC0 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)

#PB2 HEATER_EN OUTPUT LOW GPIO(5)
#define HAL_HEATER_GPIO_PIN 5
#define HAL_IMU_TEMP_DEFAULT 45

define HAL_HAVE_SAFETY_SWITCH 1
PB15 LED_SAFETY OUTPUT
PB12  SAFETY_IN INPUT PULLDOWN
PB14  TIM12_CH1 TIM12 ALARM

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1
define HAL_STORAGE_SIZE 16384

# --------------------- save flash ----------------------
include ../include/minimize_features.inc

# setup for OSD
undef OSD_ENABLED
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font1.bin