# hw definition file for CSKY405

USB_STRING_MANUFACTURER "CSKY"

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# bootloader starts firmware at 48k
FLASH_RESERVE_START_KB 48
FLASH_SIZE_KB 1024

# store parameters in pages 11 and 12
STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360

# board ID for firmware load
APJ_BOARD_ID 1158

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32

# crystal frequency
OSCILLATOR_HZ 8000000


# --------------------- LED -----------------------
PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT
PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E
define HAL_GPIO_A_LED_PIN 91
define HAL_GPIO_B_LED_PIN 90

# --------------------- PWM -----------------------
PA8  TIM1_CH1   TIM1  PWM(1)  GPIO(50)          // S1
PB1  TIM3_CH4   TIM3  PWM(2)  GPIO(51)          // S2
PC9  TIM8_CH4   TIM8  PWM(3)  GPIO(52)          // S3
PC8  TIM8_CH3   TIM8  PWM(4)  GPIO(53)          // S4

PB11 TIM2_CH4   TIM2  PWM(5)  GPIO(54)          // S5
PB10 TIM2_CH3   TIM2  PWM(6)  GPIO(55)          // S6
PB9  TIM4_CH4   TIM4  PWM(7)  GPIO(57) NODMA    // S7
PB15 TIM12_CH2  TIM12 PWM(8)  GPIO(58) NODMA    // S8

PB14 TIM12_CH1  TIM12 PWM(9)  GPIO(59) NODMA    // S9
PA5  TIM2_CH1   TIM2  PWM(10) GPIO(60) NODMA    // S10

define STM32_PWM_USE_ADVANCED TRUE

# Beeper
PC13 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80

# GPIOs
PB2  PINIO1 OUTPUT GPIO(81) LOW 
PB8  PINIO2 OUTPUT GPIO(82) LOW 
PC15 PINIO3 OUTPUT GPIO(83) LOW 
PC0  PINIO4 OUTPUT GPIO(84) HIGH # BEC 12V enable

# --------------------- SPI1 -----------------------
PB3  SPI1_SCK SPI1
PB4  SPI1_MISO SPI1
PB5  SPI1_MOSI SPI1

PC14 BMI088_A_CS CS
PA4  BMI088_G_CS CS

# --------------------- SPI2 -----------------------
PB13 SPI2_SCK SPI2
PC2  SPI2_MISO SPI2
PC3  SPI2_MOSI SPI2

PB12 OSD_CS CS
PC1  SDCARD_CS CS

# -------------------- I2C bus --------------------
I2C_ORDER I2C1

PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

define HAL_I2C_INTERNAL_MASK 0

# --------------------- UARTs ---------------------------
SERIAL_ORDER OTG1 UART4 USART1 UART5 USART3 USART6 USART2

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1
PA9  USART1_TX USART1 
PA10 USART1_RX USART1

# USART2 (RCIN with inverter)
# alternative using USART2
PA2 USART2_TX USART2 
PA3 USART2_RX USART2  ALT(1)

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

# USART3
PC10  USART3_TX USART3
PC11  USART3_RX USART3

# UART4
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA

# UART5, for GPS
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS
define HAL_SERIAL3_BAUD AP_SERIALMANAGER_GPS_BAUD

# USART6
PC6  USART6_TX USART6
PC7  USART6_RX USART6 NODMA

# ------------------- DMA assignment -------------------
DMA_PRIORITY  SPI1* UART2* TIM1* TIM8* TIM3* SPI2* ADC1

# ------------------- IMU BMI088 ---------------------
SPIDEV bmi088_g       SPI1 DEVID1  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
SPIDEV bmi088_a       SPI1 DEVID2  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
#define HAL_DEFAULT_INS_FAST_SAMPLE 1


# ------------------ OSD AT7456E ----------------------
SPIDEV osd       SPI2  DEVID2  OSD_CS  MODE0 10*MHZ 10*MHZ

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin


# --------------------- SD & FLASH ----------------------
SPIDEV sdcard    SPI2 DEVID3 SDCARD_CS  MODE3 104*MHZ 104*MHZ

#define HAL_LOGGING_DATAFLASH_ENABLED 1

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

# ----------------- I2C compass & Baro -----------------
# 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

# built-in barometer
BARO BMP388 I2C:0:0x77

# --------------------- ADC ---------------------------
PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA7 BATT_CURRENT_SENS ADC1 SCALE(1)
PC5 RSSI_ADC_PIN      ADC1 SCALE(1)

define HAL_BATT_MONITOR_DEFAULT 4

define HAL_BATT_VOLT_PIN 14
define HAL_BATT_VOLT_SCALE 21.0

define HAL_BATT_CURR_PIN 7
define HAL_BATT_CURR_SCALE 10.35

define BOARD_RSSI_ANA_PIN 15
define HAL_DEFAULT_AIRSPEED_PIN 10

# -------reduce max size of embedded params for apj_tool.py
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
define HAL_GYROFFT_ENABLED 0

# --------------------- save flash ----------------------
# save some flash
include ../include/minimize_fpv_osd.inc
include ../include/no_bootloader_DFU.inc

define HAL_PARACHUTE_ENABLED 1
define HAL_SPRAYER_ENABLED 0
define AP_GRIPPER_ENABLED 0
define HAL_RUNCAM_ENABLED 0
define HAL_HOTT_TELEM_ENABLED 0
define HAL_NMEA_OUTPUT_ENABLED 0
define HAL_BUTTON_ENABLED 0
define AP_NOTIFY_OREOLED_ENABLED 0
define HAL_PICCOLO_CAN_ENABLE 0