# hw definition file for MicoAir405v2 hardware

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1150

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 16

# chip flash size & bootloader & firmware
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 48

define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# board voltage
STM32_VDD 330U

# LEDs
PA8 LED_BLUE OUTPUT LOW GPIO(0)
PC4 LED_GREEN OUTPUT LOW GPIO(1)
PC5 LED_RED OUTPUT LOW GPIO(2)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 2
define HAL_GPIO_C_LED_PIN 1

define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
define HAL_HAVE_PIXRACER_LED

# only one I2C bus
I2C_ORDER I2C1
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# spi1 bus for OSD
PA5 SPI1_SCK  SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# spi2 bus for IMU
PB13 SPI2_SCK  SPI2
PC2  SPI2_MISO SPI2
PC3  SPI2_MOSI SPI2

# spi3 bus for SDCARD
PC10 SPI3_SCK  SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

#CS pin
PB12 AT7456E_CS CS
PA4  SPL06_CS   CS
PC13 ACCEL_CS   CS
PC14 GYRO_CS    CS
PC9  SDCARD_CS  CS

# analog pins
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

# define default battery setup
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_VOLT_SCALE 21.2
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 40.2

# debug 
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# order of UARTs (and USB)
# SERIAL_NUM|SER0|SER1  |SER2  |SER3  |SER4 |SER5 |SER6  |
# FUNCTION  |USB |      |DJIO3 |GPS   |     |ESC  |SBUS  |
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1
PA9  USART1_TX USART1
PA10 USART1_RX USART1

# USART2
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# USART3
PB10 USART3_TX USART3 NODMA
PB11 USART3_RX USART3

# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4

# UART5
PD2 UART5_RX UART5

# UART6
PC7 USART6_RX USART6
PC6 USART6_TX USART6 NODMA
PC15 SBUS_INV OUTPUT

# 10 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 10

PB0  TIM3_CH3  TIM3  PWM(1)  GPIO(50) BIDIR
PB1  TIM3_CH4  TIM3  PWM(2)  GPIO(51)
PA15 TIM2_CH1  TIM2  PWM(3)  GPIO(52) BIDIR
PB3  TIM2_CH2  TIM2  PWM(4)  GPIO(53)
PB4  TIM3_CH1  TIM3  PWM(5)  GPIO(54)
PB5  TIM3_CH2  TIM3  PWM(6)  GPIO(55)
PB8  TIM4_CH3  TIM4  PWM(7)  GPIO(56)
PB9  TIM4_CH4  TIM4  PWM(8)  GPIO(57)
PB14 TIM12_CH1 TIM12 PWM(9)  GPIO(58) NODMA
PB15 TIM12_CH2 TIM12 PWM(10) GPIO(59) NODMA

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2

# imu & baro
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
BARO SPL06 SPI:spl06

# SPI devices
SPIDEV osd           SPI1 DEVID4  AT7456E_CS  MODE0  10*MHZ  10*MHZ
SPIDEV bmi088_a      SPI2 DEVID1  ACCEL_CS    MODE3  10*MHZ  10*MHZ
SPIDEV bmi088_g      SPI2 DEVID2  GYRO_CS     MODE3  10*MHZ  10*MHZ
SPIDEV spl06         SPI2 DEVID3  SPL06_CS    MODE3  1*MHZ   8*MHZ
SPIDEV sdcard        SPI3 DEVID5  SDCARD_CS   MODE0  400*KHZ 25*MHZ

# filesystem setup on sdcard
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

# reduce flash usage
define HAL_MOUNT_ENABLED 0
define HAL_SPRAYER_ENABLED 0
define HAL_GENERATOR_ENABLED 0
define HAL_VISUALODOM_ENABLED 0
define AP_WINCH_ENABLED 0
define AP_BEACON_ENABLED 0
define AP_GRIPPER_ENABLED 0
define AP_ICENGINE_ENABLED 0
define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 0
define OFFBOARD_GUIDED 0
define QAUTOTUNE_ENABLED 0
define EK3_FEATURE_EXTERNAL_NAV 0
define AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 0
define AC_PAYLOAD_PLACE_ENABLED 0