# hwdef for Luminousbees flight board

# MCU class and specific type
MCU STM32F4xx STM32F427xx

# board ID for firmware load
APJ_BOARD_ID 11

# crystal frequency
OSCILLATOR_HZ 24000000

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -O3

# serial port for stdout disabled, use USB console
# STDOUT_SERIAL SD7
# STDOUT_BAUDRATE 57600

# only one I2C bus
I2C_ORDER I2C1

# to match px4 we make the first bus number 1
define HAL_I2C_BUS_BASE 1
define HAL_I2C_INTERNAL_MASK 0

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7

# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4 

# Battery & current control
PA2 BATT_VOLTAGE_SENS ADC1
PA3 BATT_CURRENT_SENS ADC1
PA4 VDD_5V_SENS ADC1 SCALE(2)

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


PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD


PB2 BOOT1 INPUT
PB5 VDD_BRICK_VALID INPUT

# USART1 
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 as led strip control
#PB6 USART1_TX USART1
PB7 USART1_RX USART1

# UWB DW1000
PB4 UWB_CS CS

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# SPI2 is FRAM
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PC0 VBUS_VALID INPUT
PC4 SAFETY_IN INPUT PULLDOWN

PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # also USART6_RX for serial RC

PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
PC11 SDIO_D3 SDIO
PC12 SDIO_CK SDIO
PD2 SDIO_CMD SDIO

# USART2 serial2 telem1 connected to ESP

PD4 BMI088_ACCEL_CS CS
PD3 BMI088_GYRO_CS CS
PD5 USART2_TX USART2
PD6 USART2_RX USART2

PD7 BARO_CS CS
# PB7 BARO2_CS CS	# FOR DPS310 ON FRAME MICRO

# USART3 serial3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD10 FRAM_CS CS


PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)

# UART8
PE0 UART8_RX UART8
PE1 UART8_TX UART8

#set up SPI bus4 for UWB
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4


# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)     #52
PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)     #50
PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51


# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
 SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
SPIDEV bmi088_g    SPI4 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a    SPI4 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
define HAL_CHIBIOS_ARCH_FMUV4 1

define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

define HAL_STORAGE_SIZE        16384

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

# pixracer has 3 LEDs, Red, Green, Blue
define HAL_HAVE_PIXRACER_LED

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

# LED setup for PixracerLED driver
PB11 LED_RED   OUTPUT GPIO(0)
PB1  LED_GREEN OUTPUT GPIO(1)
PB3  LED_BLUE  OUTPUT GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

# enable RTSCTS
define AP_FEATURE_RTSCTS 1

# battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 3
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

# setup serial port defaults for ESP8266
define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
define HAL_SERIAL5_BAUD 921600

# 6 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 6


# Set one or two IMUs
#IMU Invensense SPI:icm20608 ROTATION_YAW_180
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# 2 compasses. R15 has LIS3MDL instead of HMC5843
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE

# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# Barometer ( DPS310 under test on micro frame )
BARO MS56XX SPI:ms5611_int
# BARO DPS280      SPI:dps310

# reserve plenty of memory for DMA for LED buffers
define DMA_RESERVE_SIZE 32768

# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'