# MCU class and specific type
MCU STM32F4xx STM32F427xx

# board ID for firmware load
APJ_BOARD_ID 1140

# crystal frequency
OSCILLATOR_HZ 24000000

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# flash size
FLASH_SIZE_KB 2048

env OPTIMIZE -O2

# serial port for stdout, disabled so console is on USB
#STDOUT_SERIAL SD7
#STDOUT_BAUDRATE 57600

# order of I2C buses
I2C_ORDER  I2C1 I2C2

# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
# shorter list then HAL_Empty::UARTDriver objects are substituted for later
# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL1: telem1
# 3) SERIAL2: telem2
# 4) SERIAL3: primary GPS
# 5) SERIAL4: GPS2
# 6) SERIAL5: extra UART (usually RTOS debug console)

# order of SERIALn (incl. USB)
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8  UART7

# UART for IOMCU
IOMCU_UART USART6

# UART4 is GPS
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
PA2 BATT_VOLTAGE_SENS ADC1
PA3 BATT_CURRENT_SENS ADC1
PA4 VDD_5V_SENS ADC1 SCALE(2)

# SPI1 is sensors bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

PA9 VBUS INPUT

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM

PB2 BOOT1 INPUT

PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2


# SPI2 is FRAM
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PB12 CAN2_RX CAN2
PB6 CAN2_TX CAN2


PC0 VBUS_nVALID INPUT PULLUP
PC3 AUX_POWER ADC1 SCALE(1)
PC4 AUX_ADC2 ADC1 SCALE(1)

#  USART6 to IO
PC6 USART6_TX USART6
PC7 USART6_RX USART6


PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

# USART2 serial2 telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 serial3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3

PD10 FRAM_CS CS


PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)


# UART8 serial4 FrSky
PE0 UART8_RX UART8
PE1 UART8_TX UART8
# allow this uart to be inverted for transmit under user control
# the polarity is the value to use on the GPIO to change the polarity
# to the opposite of the default
PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)

PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH


# Now setup SPI bus4.
PE2 SPI4_SCK  SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# start peripheral power off, then enable after init
# this prevents a problem with radios that use RTS for
# bootloader hold

PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP

# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# SPI1 CS pins
PE4 42688_EXT_CS CS
PC14 BARO_EXT_CS CS
PC2 42688_CS CS
PD7 BARO_CS CS
PC1 MAG_CS CS

PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)

# Power flag pins: these tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp. 
PB5 VDD_BRICK_nVALID INPUT PULLUP
PG5 VDD_BRICK2_nVALID INPUT PULLUP

PA8  LED_RED     OUTPUT OPENDRAIN  GPIO(11) HIGH
PB1  LED_GREEN   OUTPUT OPENDRAIN  GPIO(12) HIGH
PC15  LED_BLUE    OUTPUT OPENDRAIN  GPIO(13) HIGH

define HAL_GPIO_A_LED_PIN 11
define HAL_GPIO_B_LED_PIN 12
define HAL_GPIO_C_LED_PIN 13

define HAL_HAVE_PIXRACER_LED

# SPI device table
SPIDEV BMP388           SPI1 DEVID3  BARO_CS      MODE3   20*MHZ 20*MHZ
SPIDEV BMP388_ext       SPI4 DEVID2  BARO_EXT_CS  MODE3   20*MHZ 20*MHZ
SPIDEV ICM42688_ext     SPI4 DEVID5  42688_EXT_CS   MODE3   2*MHZ   4*MHZ
SPIDEV ICM42688         SPI1 DEVID6  42688_CS       MODE3   2*MHZ   4*MHZ
SPIDEV ramtron          SPI2 DEVID10 FRAM_CS      MODE3   8*MHZ   8*MHZ


define HAL_DEFAULT_INS_FAST_SAMPLE 3

IMU Invensensev3 SPI:ICM42688         ROTATION_NONE
IMU Invensensev3 SPI:ICM42688_ext     ROTATION_NONE


BARO BMP388 SPI:BMP388
BARO BMP388 SPI:BMP388_ext


#COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0


define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

define HAL_STORAGE_SIZE 16384
define HAL_WITH_RAMTRON 1

# enable FAT filesystem support (needs a microSD defined via SDIO)
define HAL_OS_FATFS_IO 1

PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
PC11 SDIO_D3 SDIO
PC12 SDIO_CK SDIO
PD2 SDIO_CMD SDIO

# battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 3
define HAL_BATT_VOLT_SCALE 18
define HAL_BATT_CURR_SCALE 24

define HAL_BATT2_VOLT_PIN 14
define HAL_BATT2_CURR_PIN 13
define HAL_BATT2_VOLT_SCALE 18.0
define HAL_BATT2_CURR_SCALE 24.0

PB4 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
define HAL_GPIO_PWM_VOLT_PIN 3
define HAL_GPIO_PWM_VOLT_3v3 1



# We can't share the IO UART (USART6).
DMA_NOSHARE USART6_TX USART6_RX ADC1
DMA_PRIORITY USART6*

ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin