# hw definition file for processing by chibios_pins.py
# Omnibus F4 V6 
# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd, no flash log storage

 
# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 137

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

# board voltage
STM32_VDD 330U

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 64

# order of I2C buses
I2C_ORDER I2C1

# order of UARTs     

UART_ORDER OTG1 USART6 USART1 UART4 USART3


#PINS 

PA10 USART1_RX USART1
PA9 USART1_TX USART1

PC6 USART6_TX USART6
PC7 USART6_RX USART6

PB10 USART3_TX USART3
PB11 USART3_RX USART3

# UART4 (only RX) #"TX" pin PA0 is used for RSSI_ADC_CHANNEL
PA1 UART4_RX UART4 


#adc
PC1 BAT_CURR_SENS ADC1 SCALE(1)
PC2 BAT_VOLT_SENS ADC1 SCALE(1)
PA0 RSSI_IN ADC1

#pwm output # PWM out pins. Channel order (GPIOs) follows the ArduPilot motor
# order conventions
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)

PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54)
PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55)


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


PC12 SPI3_MOSI SPI3
PC11 SPI3_MISO SPI3
PC10 SPI3_SCK SPI3

PA4 MPU6000_CS CS #SPI1_NSS
PA15 OSD_CS CS    #SPI3_NSS 
PB3 BMP280_CS CS  #SPI3_NSS


# note that this board needs PULLUP on I2C pins 
PB8 I2C1_SCL I2C1 PULLUP
PB9 I2C1_SDA I2C1 PULLUP


PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

PA8 LED OUTPUT HIGH GPIO(41)
#PB4 TIM3_CH1 TIM3 GPIO(70) ALARM

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PC5 VBUS INPUT OPENDRAIN

# LED strip output pad used for RC input
# timer 4 is free (not used for pwm)
PB6 TIM4_CH1 TIM4 RCININT PULLDOWN LOW

#Omnibus F4 V3 and later had hw inverter on UART6 
#Overide it to use as GPS UART port
#PC8 SBUS_INVERT_RX OUTPUT LOW
#PC9 SBUS_INVERT_TX OUTPUT LOW

########### SPI Devices 
SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
SPIDEV bmp280     SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
SPIDEV osd        SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ


define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
# V6 needs 90 degree gyro alignment
define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90

# Baro
define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
define HAL_BARO_BMP280_NAME "bmp280"

# 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 STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360


# define default battery setup 
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11
define HAL_BATT_CURR_SCALE 18.2

#analog rssi pin (also could be used as analog airspeed input)
#PA0 - ADC123_CH0
define BOARD_RSSI_ANA_PIN 0

define HAL_GPIO_A_LED_PIN 41


#To have complementary channels work we define this
define STM32_PWM_USE_ADVANCED TRUE

define BOARD_PWM_COUNT_DEFAULT 6

define OSD_ENABLED ENABLED
#font for the osd
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin