#ifndef _BOARD_STM32V1F4_H_
#define _BOARD_STM32V1F4_H_
/**
* @brief Configuration of the Cortex-M4 Processor and Core Peripherals
*/
#define __CM4_REV 0x0001 /*!< Core revision r0p1 */
#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */
#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */
#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */
#define __FPU_PRESENT 1 /*!< FPU present */
#define HSE_VALUE (8000000)
#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000)
#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1)
#undef STM32_PCLK1
#undef STM32_PCLK2
#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4)
#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2)
#define BOARD_BUTTON_PIN 254
#ifndef LOW
# define LOW 0
#endif
#ifndef HIGH
# define HIGH 1
#endif
#define BOARD_BUZZER_PIN 105
#define HAL_BUZZER_ON 1
#define HAL_BUZZER_OFF 0
#define BOARD_NR_USARTS 5
#define BOARD_USART1_TX_PIN 23
#define BOARD_USART1_RX_PIN 24
#define BOARD_USART3_TX_PIN 0
#define BOARD_USART3_RX_PIN 100
#define BOARD_USART6_TX_PIN 12
#define BOARD_USART6_RX_PIN 13
#define BOARD_USART4_RX_PIN 48
#define BOARD_USART4_TX_PIN 47
//#define BOARD_USART5_RX_PIN 26 // PD2 EXTI_RFM22B / UART5_RX
//#define BOARD_BUTTON_PIN 103 // PA15 CS_RFM22B
#define BOARD_DSM_USART (_USART1)
#define BOARD_NR_SPI 3
#define BOARD_SPI1_SCK_PIN 52
#define BOARD_SPI1_MISO_PIN 53
#define BOARD_SPI1_MOSI_PIN 54
#define BOARD_SPI2_SCK_PIN 3 // PB13
#define BOARD_SPI2_MISO_PIN 4 // PB14
#define BOARD_SPI2_MOSI_PIN 5 // PB15
#define BOARD_SPI3_MOSI_PIN 18
#define BOARD_SPI3_MISO_PIN 17
#define BOARD_SPI3_SCK_PIN 16
#define BOARD_MPU6000_CS_PIN 51
#define BOARD_MPU6000_DRDY_PIN 10 // PC4
//#define BOARD_SBUS_INVERTER 6
#define BOARD_USB_SENSE 11 // PC5
// bus 2 (soft) pins
#define BOARD_SOFT_SCL 14
#define BOARD_SOFT_SDA 15
// SoftSerial pins
//#define BOARD_SOFTSERIAL_TX 14
//#define BOARD_SOFTSERIAL_RX 15
# define BOARD_BLUE_LED_PIN 36 // BLUE
# define BOARD_GREEN_LED_PIN 6 // NC - PC0 pin 8
# define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN
# define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#define BOARD_NR_GPIO_PINS 109
//TODO add #define BOARD_HAS_UART3 ?
#define I2C1_SDA PB9
#define I2C1_SCL PB8
#define I2C2_SDA PB11
#define I2C2_SCL PB10
//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
#define BOARD_I2C_BUS_EXT 1 // external I2C
#define BOARD_I2C_BUS_SLOW 1 // slow down bus with this number
#define BOARD_I2C1_DISABLE // lots of drivers tries to scan all buses, spoiling device setup
#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_SPI
#define HAL_BARO_BMP280_NAME "bmp280"
#define BOARD_BMP280_CS_PIN 104
#define HAL_BARO_MS5611_I2C_BUS BOARD_I2C_BUS_EXT
#define HAL_BARO_MS5611_I2C_ADDR (0x77)
#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E
#define BOARD_COMPASS_HMC5843_ROTATION ROTATION_NONE
#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_EXT
#define HAL_COMPASS_HMC5843_I2C_ADDR BOARD_COMPASS_HMC5843_I2C_ADDR
#define HAL_COMPASS_HMC5843_ROTATION BOARD_COMPASS_HMC5843_ROTATION
#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
#define BOARD_INS_ROTATION ROTATION_YAW_180
#define BOARD_INS_MPU60x0_NAME "mpu6000"
#define BOARD_STORAGE_SIZE 8192 // 4096 // EEPROM size
#define BOARD_SDCARD_NAME "sdcard"
#define BOARD_SDCARD_CS_PIN 2
#define BOARD_SDCARD_DET_PIN 38 // PB7
#define BOARD_HAS_SDIO
#define HAL_BOARD_LOG_DIRECTORY "0:/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "0:/APM/TERRAIN"
//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
#define USB_MASSSTORAGE
#define BOARD_OSD_NAME "osd"
#define BOARD_OSD_CS_PIN 103
#define BOARD_OSD_VSYNC_PIN 9 // PC3, Frequency input
#define BOARD_OSD_RESET_PIN 6 // PC0, NC
#define BOARD_OWN_NAME "AirbotV2"
# define BOARD_PUSHBUTTON_PIN 254
# define BOARD_USB_MUX_PIN -1
# define BOARD_BATTERY_VOLT_PIN 8 // Battery voltage on A0 (PC2) D8
# define BOARD_BATTERY_CURR_PIN 7 // Battery current on A1 (PC1) D7
# define BOARD_SONAR_SOURCE_ANALOG_PIN 254
# define HAL_BATT_VOLT_PIN 8 // ChibiOS compatible defines
# define HAL_BATT_CURR_PIN 8
# define HAL_BATT_VOLT_SCALE 10.1
# define HAL_BATT_CURR_SCALE 17
#define BOARD_USB_DMINUS 108
#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define BOARD_UARTS_LAYOUT 3
// use soft I2C driver instead hardware
//#define BOARD_SOFT_I2C
#define SERVO_PIN_1 46 // PB0
#define SERVO_PIN_2 45 // PB1
#define SERVO_PIN_3 50 // PA3
#define SERVO_PIN_4 49 // PA2
#define SERVO_PIN_5 48 // PA1
#define SERVO_PIN_6 22 // PA8
#define MOTOR_LAYOUT_DEFAULT 0
#if 1
#define HAL_CONSOLE USB_Driver // console on USB
#define HAL_CONSOLE_PORT 0
#else
#define HAL_CONSOLE uart1Driver // console on radio
#define HAL_CONSOLE_PORT 1
#endif
/*
// @Param: USB_STORAGE
// @DisplayName: allows access to SD card at next reboot
// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
// @Values: 0:normal, 1:work as USB flash drive
// @User: Advanced
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
// @Param: SD_REFORMAT
// @DisplayName: Allows to re-format SD card in case of errors in FS
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
// @Values: 0: not allow, 1:allow
// @User: Advanced
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
*/
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0),
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _usb_storage; \
AP_Int8 _sd_format;
#endif