# hw definition file for processing by chibios_hwdef.py
# for KAKUTEF4WING hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID AP_HW_Holybro-KakuteF4-Wing

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# bootloader takes first sector
FLASH_RESERVE_START_KB 48

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1

define STM32_ST_USE_TIMER 9
define CH_CFG_ST_RESOLUTION 16

# SPI devices

# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2
PB13 SPI2_SCK SPI2
PC2 SPI2_MISO SPI2
PC3 SPI2_MOSI SPI2

# SPI3
PB3 SPI3_SCK SPI3
PB4 SPI3_MISO SPI3
PB5 SPI3_MOSI SPI3

# Chip select pins
PC14 FLASH1_CS CS
PC15 OSD1_CS CS
PA4 GYRO1_CS CS

# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 EMPTY UART5 USART6

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# This is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN.
PA10 VBUS INPUT OPENDRAIN

# USART1
PB7 USART1_RX USART1
PB6 USART1_TX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS

# USART2
PA2 USART2_TX USART2
PA3 USART2_RX USART2 NODMA
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MAVLink2

# USART3 - RX
PC10 USART3_TX USART3
PC11 USART3_RX USART3
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN
# SBUS inversion control pin, active high
PC13 USART3_RXINV OUTPUT HIGH GPIO(78) POL(1)

# UART5
PC12 UART5_TX UART5 NODMA
PD2 UART5_RX UART5 NODMA

# USART6
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA

# I2C ports
I2C_ORDER I2C2

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# Servos

# ADC ports

# ADC1
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_VOLT_SCALE 11.0
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 40
define HAL_BATT_MONITOR_DEFAULT 4

# MOTORS
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)           # M1
PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51) BIDIR     # M2
PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)           # M3
PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR     # M4
PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54)           # M5
PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55)           # M6

# LEDs
PA1 TIM5_CH2 TIM5 PWM(7) GPIO(56) # M7

define AP_NOTIFY_GPIO_LED_1_ENABLED 1
PC5 LED_BLUE OUTPUT LOW GPIO(90)
define AP_NOTIFY_GPIO_LED_1_PIN 90

# GPIOs
PB14  PINIO1 OUTPUT GPIO(81) LOW
PB15  PINIO2 OUTPUT GPIO(82) LOW

# Dataflash setup
SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ

define HAL_LOGGING_DATAFLASH_ENABLED 1

# OSD setup
SPIDEV osd SPI2 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

# IMU setup
SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
# one IMU
IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90

DMA_PRIORITY I2C2* SPI3*

# Baro setup
BARO SPL06 I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_SPL06_ENABLED 1

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define HAL_DEFAULT_INS_FAST_SAMPLE 1
define HAL_FRAME_TYPE_DEFAULT 12

# minimal drivers to reduce flash usage
include ../include/minimize_fpv_osd.inc