# hw definition file for processing by chibios_pins.py
# for Revo-Mini hardware

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 124

# crystal frequency
OSCILLATOR_HZ 8000000

define STM32_ST_USE_TIMER 5

FLASH_SIZE_KB 1024


# use USB for stdout, so no STDOUT_SERIAL
# STDOUT_SERIAL SD3
# STDOUT_BAUDRATE 57600

# two I2C bus: I2C1 internal, I2C2 external
I2C_ORDER I2C1 I2C2

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART3 USART6 USART2 UART4 

# rcinput is PB14, which is the 1st "PWM IN" pin (the white wire on a
# revolution board)
PB14 TIM12_CH1 TIM12 RCININT PULLDOWN LOW

# analog pins
PC3 VDD_5V_SENS ADC1
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC5 USB_SENSE ADC1

# define default battery setup
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

# LEDs
PB5 LED_BLUE OUTPUT LOW GPIO(0)
PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
PB4 LED_RED OUTPUT LOW GPIO(2)

# GPS port
PC6 USART6_TX USART6
PC7 USART6_RX USART6
# SBUS inversion control pin, active high
PC0 USART6_RXINV OUTPUT LOW GPIO(78) POL(1)

# USART3 (SERIAL2)  on flexi port in BRD_ALT_CONFIG = 3 & 4 & 5
PB10 USART3_TX USART3 ALT(3)
PB11 USART3_RX USART3 ALT(3)
PB10 USART3_TX USART3 ALT(4)
PB11 USART3_RX USART3 ALT(4)
PB10 USART3_TX USART3 ALT(5)
PB11 USART3_RX USART3 ALT(5)

# main port, for telem1
PA9 USART1_TX USART1
PA10 USART1_RX USART1

# USART2 = SERIAL4 Rx & Tx on PWMOutput pins 3 & 4 in BRD_ALT_CONFIG = 1 & 2 & 4 & 5 
PA2 USART2_TX USART2 ALT(1)
PA3 USART2_RX USART2 ALT(1)
PA2 USART2_TX USART2 ALT(2)
PA3 USART2_RX USART2 ALT(2)
PA2 USART2_TX USART2 ALT(4)
PA3 USART2_RX USART2 ALT(4)
PA2 USART2_TX USART2 ALT(5)
PA3 USART2_RX USART2 ALT(5)

# UART4 = SERIAL5 Rx & Tx on PWMOutput pins 5 & 6 in BRD_ALT_CONFIG = 2 & 5
PA0 UART4_TX UART4 ALT(2)
PA1 UART4_RX UART4 ALT(2)
PA0 UART4_TX UART4 ALT(5)
PA1 UART4_RX UART4 ALT(5)

# flexi port, for external I2C
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# spi bus for IMU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# spi bus for dataflash
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# IRQ for MPU6000
PC4 EXTI_MPU6000 INPUT

# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# only one I2C bus in normal config
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# SPI chip selects
PA4 MPU_CS CS
PB3 FLASH_CS CS

# PWM out pins
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)

PB7 DRDY_HMC5883 INPUT PULLUP

define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 2

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

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180

# one baro
BARO MS56XX I2C:0:0x77

# look for internal I2C compass
COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270

# also allow for probing of external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# SPI devices
SPIDEV mpu6000   SPI1 DEVID1 MPU_CS   MODE3 1*MHZ 8*MHZ 
SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

define HAL_GYROFFT_ENABLED 0