# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32F4xx STM32F412Rx

FLASH_RESERVE_START_KB 0
# two sectors for bootloader, two for storage
FLASH_BOOTLOADER_LOAD_KB 64

# board ID for firmware load
APJ_BOARD_ID 1001

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 16000000

STM32_HSE_ENABLED TRUE
STM32_PLLM_VALUE 16
STM32_PLLN_VALUE 384
STM32_PLLP_VALUE 4
STM32_PLLQ_VALUE 8
STM32_PLLSRC STM32_PLLSRC_HSE
STM32_PREE1  STM32_PREE1_DIV1
STM32_PREE2  STM32_PREE2_DIV1
STM32_HPRE   STM32_HPRE_DIV1
STM32_PPRE1  STM32_PPRE1_DIV2
STM32_PPRE2  STM32_PPRE2_DIV2


define CH_CFG_ST_FREQUENCY 1000000

# assume 512k flash part
FLASH_SIZE_KB 512

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# board voltage
STM32_VDD 330U

# order of UARTs
UART_ORDER

# use safety button to stay in bootloader
PB3 STAY_IN_BOOTLOADER INPUT PULLDOWN
define HAL_STAY_IN_BOOTLOADER_VALUE 1

PB12 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 1

# USART1
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# USART2
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

define HAL_USE_SERIAL TRUE

define STM32_SERIAL_USE_USART1 TRUE
define STM32_SERIAL_USE_USART2 TRUE
define STM32_SERIAL_USE_USART3 FALSE

define HAL_NO_GPIO_IRQ
define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define HAL_USE_RTC FALSE
define DISABLE_SERIAL_ESC_COMM TRUE
define NO_DATAFLASH TRUE

define DMA_RESERVE_SIZE 0

define PERIPH_FW TRUE
define HAL_DISABLE_LOOP_DELAY

define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_USE_CAN TRUE
define STM32_CAN_USE_CAN1 TRUE

define CAN_APP_VERSION_MAJOR 1
define CAN_APP_VERSION_MINOR 0
define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps"

# start with a fixed node ID so the board is usable without DNA
define HAL_CAN_DEFAULT_NODE_ID 116

# make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600

# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000