watchrobot/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for MindPX-v2 hardware

# MCU class and specific type
MCU STM32F4xx STM32F427xx

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2

# board ID for firmware load
APJ_BOARD_ID 88

# crystal frequency
OSCILLATOR_HZ 8000000
STM32_PLLM_VALUE 8

STM32_ST_USE_TIMER 5

# board voltage
STM32_VDD 330U

# flash size
FLASH_SIZE_KB 2048

# space to reserve for bootloader and storage at start of flash
FLASH_RESERVE_START_KB 16

# space to reserve for storage at end of flash
FLASH_RESERVE_END_KB 0

# serial port for stdout disabled, uses USB instead
# STDOUT_SERIAL SD7
# STDOUT_BAUDRATE 57600

# order of I2C buses
I2C_ORDER I2C1 I2C2

# order of UARTs (and USB)
UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7

# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
PA4 VDD_5V_SENS ADC1 SCALE(2)

# SPI1 is fram bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1

# Timers 1-4 are used for (servo) PWM outputs and 5/6 are used for clocks
# Use Timer 14 for tone generation
PA7 TIM14_CH1 TIM14 GPIO(32) ALARM

PA8 RUN_LED OUTPUT GPIO(0)
PA9 VBUS INPUT
PA10 SBUS_INV OUTPUT

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD


# PWM outputs
PE9  TIM1_CH1 TIM1 PWM(1)
PE11 TIM1_CH2 TIM1 PWM(2)
PE13 TIM1_CH3 TIM1 PWM(3)
PE14 TIM1_CH4 TIM1 PWM(4)

PD12 TIM4_CH1 TIM4 PWM(5)
PD13 TIM4_CH2 TIM4 PWM(6)
PD14 TIM4_CH3 TIM4 PWM(7)
PD15 TIM4_CH4 TIM4 PWM(8)

PB4  TIM3_CH1 TIM3 PWM(9)  GPIO(50)
PC7  TIM3_CH2 TIM3 PWM(10) GPIO(51)
PB0  TIM3_CH3 TIM3 PWM(11) GPIO(52)
PB1  TIM3_CH4 TIM3 PWM(12) GPIO(53)

PA15 TIM2_CH1 TIM2 PWM(13) GPIO(54)
PB3  TIM2_CH2 TIM2 PWM(14) GPIO(55)
PA2  TIM2_CH3 TIM2 PWM(15)
PA3  TIM2_CH4 TIM2 PWM(16)

PB2 GYRO_CS CS

PB5 SPI1_MOSI SPI1

# USART1 is SBUS
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# I2C1 is mag I2C
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# I2C2 is FMU I2C
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

# SPI2 is external SPI (radio NRF)
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PC0 BAT_CURR_SENS ADC1
PC1 FMU_GPIO3 INPUT # RSSI
PC2 BAT_VOLT_SENS ADC1
PC3 FMU_ADC1 ADC1
PC4 FMU_ADC2 ADC1
PC5 FMU_ADC3 ADC1
PC6 TIM8_CH1 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC

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

PC13 ACCEL_DRDY INPUT
PC14 MAG_DRDY INPUT
PC15 BARO_CS CS

PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PD2 SDIO_CMD SDIO

# USART2 serial2 telem1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2
PD7 NRF_CSN INPUT

# USART3 serial3 telem2
PD8 USART3_TX USART3
PD9 USART3_RX USART3
PD10 NRF_INT INPUT
PD11 ACCEL_MAG_CS CS


# UART8 is 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
PB12 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)

# SPI4 is M_SPI (main sensors)
PE2 SPI4_SCK SPI4
PE3 MPU_CS CS
PE4 GYRO_DRDY INPUT
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# UART7 is debug
PE7 UART7_RX UART7 
PE8 UART7_TX UART7

PE10 MPU_DRDY INPUT
PE12 FRAM_CS CS
PE15 NRF_CS CS

# SPI device table
SPIDEV ms5611     SPI4  DEVID1 BARO_CS      MODE3   2*MHZ  2*MHZ
SPIDEV mpu6500    SPI4  DEVID2 MPU_CS       MODE3 500*KHZ  4*MHZ
SPIDEV lsm9ds0_am SPI4  DEVID3 ACCEL_MAG_CS MODE3  11*MHZ 11*MHZ
SPIDEV lsm9ds0_g  SPI4  DEVID4 GYRO_CS      MODE3  11*MHZ 11*MHZ
SPIDEV ramtron    SPI1  DEVID5 FRAM_CS      MODE3   8*MHZ  8*MHZ
SPIDEV radio      SPI2  DEVID6 NRF_CS       MODE3   2*MHZ  2*MHZ

# two IMUs
IMU Invensense SPI:mpu6500 ROTATION_NONE
IMU LSM9DS0 SPI:lsm9ds0_g SPI:lsm9ds0_am ROTATION_YAW_90 ROTATION_YAW_90 ROTATION_YAW_90

# one baro
BARO MS56XX SPI:ms5611

# two compasses
COMPASS HMC5843 I2C:0:0x1e false ROTATION_YAW_90
COMPASS LSM303D SPI:lsm9ds0_am ROTATION_PITCH_180_YAW_270
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

define HAL_CHIBIOS_ARCH_MINDPXV2 1

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

define HAL_STORAGE_SIZE 16384

# enable RAMTROM parameter storage
define HAL_WITH_RAMTRON 1

# fallback to flash storage
define STORAGE_FLASH_PAGE 22

# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1

# enable FAT filesystem
define HAL_OS_FATFS_IO 1

# enable RTSCTS
define AP_FEATURE_RTSCTS 1

# battery setup
define HAL_BATT_VOLT_PIN 12
define HAL_BATT_CURR_PIN 10
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