watchrobot/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for F4BY v2.1.5 board description http://swift-flyer.com/?page_id=83 

# MCU class and specific type
MCU STM32F4xx STM32F407xx

# board ID for firmware load
APJ_BOARD_ID 20
define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_F4BY
                                
# USB setup
USB_VENDOR 0x27AC # Swift-Flyer 
USB_PRODUCT 0x0201 # fmu usb driver 
USB_STRING_MANUFACTURER "Swift-Flyer"
USB_STRING_PRODUCT "%BOARD%"
USB_STRING_SERIAL  "%SERIAL%"

FLASH_SIZE_KB 1024

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

# board voltage
STM32_VDD 330U

# this is the STM32 timer that ChibiOS will use for the low level
# driver. This must be a 32 bit timer. We currently only support
# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details

# ChibiOS system timer
STM32_ST_USE_TIMER 5

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# the normal usage of this ordering is:
# 1) SERIAL0: console (primary mavlink, usually USB)
# 2) SERIAL3: primary GPS
# 3) SERIAL1: telem1
# 4) SERIAL2: telem2
# 5) SERIAL4: GPS2
# 6) SERIAL5: extra UART (usually RTOS debug console)

# use UART for stdout, so no STDOUT_SERIAL
#STDOUT_SERIAL SD5
#STDOUT_BAUDRATE 57600

# this is the pin that senses USB being connected. It is an input pin
# setup as OPENDRAIN
PA9 VBUS INPUT OPENDRAIN

UART_ORDER OTG1 USART3 USART2 USART1 UART5

# UART1 as board 2.1.5 for serial 3 gps
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# USART2 serial2 telem2
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2

# USART3 serial3 telem1
PD8 USART3_TX USART3 NODMA
PD9 USART3_RX USART3

PC10 UART4_TX UART4 NODMA
PC11 UART4_RX UART4 

# SHARE dma with I2C2_TX
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5 NODMA

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 22

#SPI1 for MPU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 MPU_CS CS

# spi bus for dataflash AND SD
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2


PB12 FRAM_CS CS SPEED_VERYLOW
PE15 FLASH_CS CS

SPIDEV mpu6000 SPI1 DEVID1 MPU_CS   MODE3 1*MHZ   8*MHZ
SPIDEV ramtron SPI2 DEVID2 FRAM_CS  MODE3 8*MHZ   8*MHZ 
SPIDEV sdcard  SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 25*MHZ

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_NONE

# one baro, check both addresses
BARO MS56XX I2C:0:0x76
BARO MS56XX I2C:0:0x77

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1
# enable FAT filesystem support
define HAL_OS_FATFS_IO 1
# now some defines for logging and terrain data files
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"

# this defines the default maximum clock on I2C devices.
define HAL_I2C_MAX_CLOCK 100000
I2C_ORDER I2C2 I2C1
PB8 I2C1_SCL I2C1 
PB9 I2C1_SDA I2C1 
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# look for I2C compass
COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

# PWM out pins
PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)

PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58)
PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59)
PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60)
PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61)

# also USART6_RX for serial RC
PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0 

# LED setup is similar to PixRacer
define HAL_HAVE_PIXRACER_LED
PE3 LED_RED OUTPUT GPIO(10)
PE2 LED_GREEN OUTPUT GPIO(11)
PE1 LED_BLUE OUTPUT GPIO(12)
PE0 LED_YELOW OUTPUT GPIO(13)

define HAL_GPIO_A_LED_PIN 10
define HAL_GPIO_B_LED_PIN 11
define HAL_GPIO_C_LED_PIN 12

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

PC0 PRESSURE_SENS ADC1 SCALE(1)
PC1 RSSI_IN ADC1
PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
PC4 VDD_5V_SENS ADC1 SCALE(2)
PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2) 


PE5 TIM9_CH1 TIM9 ALARM
PC14 EXTERN_GPIO1 GPIO(1)
PC13 EXTERN_GPIO2 GPIO(2)
PE4  EXTERN_GPIO3 GPIO(3)
PE6  EXTERN_GPIO4 GPIO(4)
PC9  EXTERN_GPIO5 GPIO(5)

#  IRQ for MPU6000
PB0 EXTI_MPU6000 INPUT PULLUP
PB1 DRDY_HMC5883 INPUT PULLUP

define AP_FEATURE_BRD_PWM_COUNT_PARAM 1
define BOARD_PWM_COUNT_DEFAULT 12