#ifndef CONFIG_H
#define CONFIG_H

// ============================================
// SaltyLab Balance Bot — MAMBA F722S FC
// Pin assignments from Betaflight: DIAT-MAMBAF722_2022B
// ============================================

// --- IMU: MPU6000 (SPI1) ---
// SPI1: PA5=SCK, PA6=MISO, PA7=MOSI
// WHO_AM_I = 0x68
#define MPU_SPI             SPI1
#define MPU_CS_PORT         GPIOA
#define MPU_CS_PIN          GPIO_PIN_4    // GYRO_CS 1
#define MPU_EXTI_PORT       GPIOC
#define MPU_EXTI_PIN        GPIO_PIN_4    // GYRO_EXTI 1 (data ready IRQ)
#define GYRO_ALIGN          CW270         // gyro_1_sensor_align = CW270

// --- Barometer: BMP280 or DPS310 (I2C1) ---
#define BARO_I2C            I2C1
#define BARO_SCL_PORT       GPIOB
#define BARO_SCL_PIN        GPIO_PIN_8    // I2C_SCL 1
#define BARO_SDA_PORT       GPIOB
#define BARO_SDA_PIN        GPIO_PIN_9    // I2C_SDA 1
// Magnetometer also on I2C1 (external, header only)

// --- LEDs ---
#define LED1_PORT           GPIOC
#define LED1_PIN            GPIO_PIN_15   // LED 1 (active low)
#define LED2_PORT           GPIOC
#define LED2_PIN            GPIO_PIN_14   // LED 2 (active low)

// --- Buzzer ---
#define BEEPER_PORT         GPIOB
#define BEEPER_PIN          GPIO_PIN_2    // BEEPER 1
#define BEEPER_INVERTED     1             // beeper_inversion = ON
// beeper_od = OFF (push-pull)

// --- Battery Monitoring (ADC3) ---
#define ADC_VBAT_PORT       GPIOC
#define ADC_VBAT_PIN        GPIO_PIN_1    // ADC_BATT 1
#define ADC_CURR_PORT       GPIOC
#define ADC_CURR_PIN        GPIO_PIN_3    // ADC_CURR 1
#define ADC_IBAT_SCALE      115           // ibata_scale

// --- LED Strip (WS2812) ---
#define LED_STRIP_PORT      GPIOB
#define LED_STRIP_PIN       GPIO_PIN_3    // LED_STRIP 1 (TIM2_CH2)

// --- OSD: MAX7456 (SPI2) ---
#define OSD_SPI             SPI2
#define OSD_CS_PORT         GPIOB
#define OSD_CS_PIN          GPIO_PIN_12   // OSD_CS 1
// SPI2: PB13=SCK, PB14=MISO, PB15=MOSI

// --- Blackbox Flash: M25P16 (SPI3) ---
#define FLASH_SPI           SPI3
#define FLASH_CS_PORT       GPIOA
#define FLASH_CS_PIN        GPIO_PIN_15   // FLASH_CS 1
// SPI3: PC10=SCK, PC11=MISO, PB5=MOSI

// --- Motor Outputs (PWM/DShot) ---
#define MOTOR1_PORT         GPIOC
#define MOTOR1_PIN          GPIO_PIN_8    // TIM8_CH3
#define MOTOR2_PORT         GPIOC
#define MOTOR2_PIN          GPIO_PIN_9    // TIM8_CH4
#define MOTOR3_PORT         GPIOA
#define MOTOR3_PIN          GPIO_PIN_8    // TIM1_CH1
#define MOTOR4_PORT         GPIOA
#define MOTOR4_PIN          GPIO_PIN_9    // TIM1_CH2
#define MOTOR5_PORT         GPIOB
#define MOTOR5_PIN          GPIO_PIN_0    // TIM3_CH3
#define MOTOR6_PORT         GPIOB
#define MOTOR6_PIN          GPIO_PIN_1    // TIM3_CH4
#define MOTOR7_PORT         GPIOA
#define MOTOR7_PIN          GPIO_PIN_10   // TIM1_CH3
#define MOTOR8_PORT         GPIOB
#define MOTOR8_PIN          GPIO_PIN_4    // TIM3_CH1

// --- UARTs ---
// USART1: PB6=TX, PB7=RX   (serial 0, SmartAudio/VTX)
#define UART1_TX_PORT       GPIOB
#define UART1_TX_PIN        GPIO_PIN_6
#define UART1_RX_PORT       GPIOB
#define UART1_RX_PIN        GPIO_PIN_7

// USART2: PA2=TX, PA3=RX   (serial 1)
#define UART2_TX_PORT       GPIOA
#define UART2_TX_PIN        GPIO_PIN_2
#define UART2_RX_PORT       GPIOA
#define UART2_RX_PIN        GPIO_PIN_3

// USART3: PB10=TX, PB11=RX (serial 2, SBUS RX default)
#define UART3_TX_PORT       GPIOB
#define UART3_TX_PIN        GPIO_PIN_10
#define UART3_RX_PORT       GPIOB
#define UART3_RX_PIN        GPIO_PIN_11

// UART4: PA0=TX, PA1=RX    (serial 3)
#define UART4_TX_PORT       GPIOA
#define UART4_TX_PIN        GPIO_PIN_0
#define UART4_RX_PORT       GPIOA
#define UART4_RX_PIN        GPIO_PIN_1

// UART5: PC12=TX, PD2=RX   (serial 4)
#define UART5_TX_PORT       GPIOC
#define UART5_TX_PIN        GPIO_PIN_12
#define UART5_RX_PORT       GPIOD
#define UART5_RX_PIN        GPIO_PIN_2

// USART6: PC6=TX, PC7=RX   (serial 5)
#define UART6_TX_PORT       GPIOC
#define UART6_TX_PIN        GPIO_PIN_6
#define UART6_RX_PORT       GPIOC
#define UART6_RX_PIN        GPIO_PIN_7

// --- PINIO (switchable outputs, e.g. VTX power) ---
#define PINIO1_PORT         GPIOC
#define PINIO1_PIN          GPIO_PIN_2    // pinio_config = 129 (USER1)
#define PINIO2_PORT         GPIOC
#define PINIO2_PIN          GPIO_PIN_0    // pinio_config = 129 (USER2)

// --- SaltyLab Assignments ---
// Hoverboard ESC: USART2 (PA2=TX, PA3=RX) or USART3
// ELRS Receiver: UART4 (PA0=TX, PA1=RX) — CRSF 420000 baud
// Jetson: USART6 (PC6=TX, PC7=RX)
// Debug: UART5 (PC12=TX, PD2=RX)

// --- PID Tuning ---
#define PID_KP              35.0f
#define PID_KI              1.0f
#define PID_KD              1.0f
#define PID_INTEGRAL_MAX    500.0f
#define PID_LOOP_HZ         1000

// --- Safety ---
#define MAX_TILT_DEG        25.0f
#define RC_TIMEOUT_MS       500
#define ARMING_HOLD_MS      3000
#define MAX_SPEED_LIMIT     100
#define WATCHDOG_TIMEOUT_MS 50

#endif // CONFIG_H