# hw definition file for processing by chibios_hwdef.py
# for VRUBRAINv51 hardware

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51

# MCU class and specific type
MCU STM32F4xx STM32F407xx

# board ID for firmware load
APJ_BOARD_ID 1351

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

# flash size
FLASH_SIZE_KB 1024

# board voltage
STM32_VDD 330U

# USB setup
USB_VENDOR 0x27AC
USB_PRODUCT 0x1351
USB_STRING_MANUFACTURER "Laser Navigation"
USB_STRING_SERIAL  "%SERIAL%"

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# only one I2C bus
I2C_ORDER I2C2 I2C1

# order of UARTs (and USB)
UART_ORDER OTG1 USART1 USART3 USART2
STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600


#PA0 TIM2_CH1 TIM2 GPIO(77) ALARM    # OUT_CH1
 PA1  TIM2_CH2 TIM2 PWM(1)  GPIO(50) # PWM_CH0
 PA2  TIM2_CH3 TIM2 PWM(2)  GPIO(51) # PWM_CH1
 PA3  TIM2_CH4 TIM2 PWM(3)  GPIO(52) # PWM_CH2
 PA4  SDCARD_CS CS                   # CS_SDCARD
 PA5  SPI1_SCK SPI1                  # SPI1_SCK
 PA6  SPI1_MISO SPI1                 # SPI1_MISO
 PA7  SPI1_MOSI SPI1                 # SPI1_MOSI
#PA8                                 # Not connected
 PA9  VBUS INPUT                     # USB_VBUS
#P10                                 # USB_ID
 PA11 OTG_FS_DM OTG1                 # USBM
 PA12 OTG_FS_DP OTG1                 # USBP
 PA13 JTMS-SWDIO SWD                 # JTAG_TMS
 PA14 JTCK-SWCLK SWD                 # JTAG_TCK
#PA15                                # Not connected

 PB0  TIM3_CH3 TIM3 PWM(5)  GPIO(54) # PWM_CH4
 PB1  TIM3_CH4 TIM3 PWM(6)  GPIO(55) # PWM_CH5
#PB2
 PB3  LED_EXT3  OUTPUT GPIO(5)       # Not connected
 PB4  LED_EXT4  OUTPUT GPIO(6)       # Not connected
 PB5  TIM3_CH2 TIM3 PWM(4)  GPIO(53) # PWM_CH3
 PB6  USART1_TX USART1               # UART1_TX
 PB7  USART1_RX USART1               # UART1_RX
 PB8  I2C1_SCL I2C1                  # SCL2/CANRX
 PB9  I2C1_SDA I2C1                  # SDA2/CANTX
 PB10 I2C2_SCL I2C2                  # SCL
 PB11 I2C2_SDA I2C2                  # SDA
#PB12                                # Not connected
 PB13 SPI2_SCK SPI2                  # SPI2_SCK
 PB14 SPI2_MISO SPI2                 # SPI2_MISO
 PB15 SPI2_MOSI SPI2                 # SPI2_MOSI

 PC0  BATT_VOLTAGE_SENS ADC1         # ADC12_VBAT
#PC1                                 # Not connected
#PC2                                 # Not connected
#PC3                                 # Not connected
#PC4                                 # Not connected
 PC5  LED_GREEN OUTPUT GPIO(1)       # CMD_LED_RED
#PC6                                 # SBUS_TX
 PC7  TIM8_CH2 TIM8 RCIN FLOAT LOW   # SBUS_RX
#PC8
#PC9
 PC10 SPI3_SCK SPI3                  # SPI3_SCK
 PC11 SPI3_MISO SPI3                 # SPI3_MISO
 PC12 SPI3_MOSI SPI3                 # SPI3_MOSI
#PC13                                # Not connected
#PC14                                # Not connected
#PC15                                # Not connected

#PD0                                 # Not connected
#PD1                                 # Not connected
#PD2                                 # Not connected
#PD3                                 # UART3_EN
#PD4                                 # UART3_CTS
 PD5  USART2_TX USART2               # Not connected
 PD6  USART2_RX USART2               # Not connected
 PD7  SBUS_INV OUTPUT                # Not connected
 PD8  USART3_TX USART3               # UART3_TX
 PD9  USART3_RX USART3               # UART3_RX
#PD10                                # NT_GYRO
#PD11                                # Not connected
 PD12 TIM4_CH1 TIM4 PWM(8)  GPIO(57) # PWM_CH7
 PD13 TIM4_CH2 TIM4 PWM(7)  GPIO(56) # PWM_CH6
 PD15 LED_RED   OUTPUT GPIO(0)       # CMD_LED_GRN
 PD14 LED_BLUE  OUTPUT GPIO(2)       # CMD_LED_BLU

 PE0  BARO_CS CS                     # CS_BARO
#PE1                                 # EXP_EEPROM_WIFI_CS
#PE2  LED_EXT1  OUTPUT GPIO(3)       # OUT_CH3
#PE3  LED_EXT2  OUTPUT GPIO(4)       # OUT_CH2
#PE4                                 # Not connected
#PE5                                 # PWM_IN4
#PE6                                 # PWM_IN5
#PE7                                 # EXP_WIFI_EN
#PE8                                 # EXP_WIFI_INT
 PE9  TIM1_CH1 TIM1 PWM(9)  GPIO(58) # PWM_CH8
 PE10 MPU_CS CS                      # CS_GYRO
 PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59) # PWM_CH9
 PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60) # PWM_CH10
 PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61) # PWM_CH11
#PE15                                # CS_EEPROM

# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
SPIDEV ms5611      SPI1 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
SPIDEV mpu6000     SPI2 DEVID4  MPU_CS     MODE3   2*MHZ   8*MHZ
#SPIDEV ramtron     SPI3 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ
SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ

define HAL_CHIBIOS_ARCH_UBRAINV51 1

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

define HAL_STORAGE_SIZE      15360
define HAL_USE_EMPTY_STORAGE 1
#define STORAGE_FLASH_PAGE    2
# reserve 16k for bootloader and 16k for flash storage
#FLASH_RESERVE_START_KB 32

# enable RAMTROM parameter storage
#define HAL_WITH_RAMTRON 1

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

define HAL_GPIO_A_LED_PIN 2
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 0

define EXTERNAL_LED_ARMED   3
define EXTERNAL_LED_GPS     4
define EXTERNAL_LED_MOTOR1  5
define EXTERNAL_LED_MOTOR2  6

# battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN -1
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

# 12 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 12