# hw definition file for processing by chibios_pins.py
# F405AIO, developed by Robin Luo

#################################################
###             MCU CONFIGURATION             ###
#################################################

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1116

# crystal frequency
OSCILLATOR_HZ 16000000

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32

# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
FLASH_RESERVE_START_KB 64
FLASH_SIZE_KB 1024

#define HAL_STORAGE_SIZE 16384
define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1

# enable FLASH/RAMTROM parameter storage
#define HAL_WITH_DATAFLASH 1
# enable logging to dataflash
#define HAL_LOGGING_DATAFLASH_ENABLED 1

# order of UARTs
#           | sr0| sr1  | sr2  | GPS |
SERIAL_ORDER OTG1 USART1 USART3 UART4 USART6 USART2

#################################################
###             PIN DEFINITIONS               ###
################################################# 

PA0 UART4_TX UART4
PA1 UART4_RX UART4 

PA9 USART1_TX USART1
PA10 USART1_RX USART1

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PC6  USART6_TX USART6  
PC7  USART6_RX USART6  

PB10 USART3_TX USART3 
PB11 USART3_RX USART3 

# default to timer for RC input
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW

# alternative using USART2
PA2 USART2_TX USART2 NODMA
PA3 USART2_RX USART2 NODMA ALT(1)


# IMU SPI
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 GYRO1_CS CS
PC3 GYRO2_CS CS
PC4 GYRO1_DRDY INPUT
PB2 GYRO2_DRDY INPUT

# SD CARD SPI
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
PD2 SDCARD_CS CS
PA14 FLASH_CS CS

# MAG SPI
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 MAG_CS CS
PC5 MAG_DRDY INPUT
PA8 ESPI_CS CS

# I2C1
PB6 I2C1_SCL I2C1 
PB7 I2C1_SDA I2C1 

#define HAL_USE_I2C TRUE
#define STM32_I2C_USE_I2C1 TRUE
# I2C Buses
I2C_ORDER I2C1 
#define HAL_I2C_CLEAR_ON_TIMEOUT 0

# CAN
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
# CAN Buses
#CAN_ORDER 1 

# reduce memory usage
define UAVCAN_NODE_POOL_SIZE 1024

PC0 RSSI_ADC_PIN ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)

PC14 LED_BLUE OUTPUT LOW GPIO(0)
PA13 LED_GREEN OUTPUT LOW GPIO(1) 
PC15 LED_RED OUTPUT LOW GPIO(2) 

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2


#pwm output
PB0  TIM3_CH3  TIM3 PWM(1) GPIO(50)
PB5  TIM3_CH2  TIM3 PWM(2) GPIO(51)
PB4  TIM3_CH1  TIM3 PWM(3) GPIO(52)
PB1  TIM3_CH4  TIM3 PWM(4) GPIO(53)
PB3  TIM2_CH2  TIM2 PWM(5) GPIO(54)
PA15 TIM2_CH1  TIM2 PWM(6) GPIO(55)
PC8  TIM8_CH3  TIM8 PWM(7) GPIO(56)
PC9  TIM8_CH4  TIM8 PWM(8) GPIO(57)
#PA8  TIM1_CH1  TIM1 PWM(9) GPIO(58)
#PA2  TIM2_CH3  TIM2 PWM(10) GPIO(59) 

PC13 VBUS INPUT OPENDRAIN

# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN

#################################################
###                 DEVICES                   ###
#################################################

# BMI160 on SPI1
SPIDEV bmi160 SPI1 DEVID1 GYRO1_CS MODE3  1*MHZ  4*MHZ
# ICM42688 on SPI1
SPIDEV icm42688 SPI1 DEVID2 GYRO2_CS MODE3  1*MHZ  4*MHZ
# QMI8658 on SPI1
#SPIDEV LSM6DSL SPI1 DEVID2 GYRO2_CS MODE3  1*MHZ  4*MHZ

# MAG on SPI2
SPIDEV lis3mdl SPI2 DEVID3 MAG_CS MODE3 500*KHZ 500*KHZ
#SPIDEV lis3mdl SPI2 DEVID6 MAG_CS MODE3 500*KHZ 500*KHZ

# SD Card on SPI3
SPIDEV sdcard SPI3 DEVID4 SDCARD_CS MODE3 400*KHZ 25*MHZ

# Flash Card on SPI3
SPIDEV dataflash SPI3 DEVID5 FLASH_CS MODE3 500*KHZ 25*MHZ

# two IMU
IMU BMI160 SPI:bmi160 ROTATION_ROLL_180_YAW_270
IMU Invensensev3 SPI:icm42688 ROTATION_NONE
#IMU LSM6DSL SPI:lsm6dsl ROTATION_ROLL_180

# one baro, multiple possible choices for different board variants
BARO BMP280 I2C:0:0x76

# one mag
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_ROLL_180_YAW_90


define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"


# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 9.2
define HAL_BATT_CURR_SCALE 50.0

#analog rssi pin (also could be used as analog airspeed input)
# PC0 - ADC1_CH10
define BOARD_RSSI_ANA_PIN 10

# 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 OSD_ENABLED 0


# --------------------- save flash ----------------------
include ../include/minimize_features.inc