# hw definition file for processing by chibios_pins.py
# MCU class and specific type

# MCU class and specific type
MCU STM32F4xx STM32F427xx

# crystal frequency
OSCILLATOR_HZ 24000000

# flash size
FLASH_SIZE_KB 2048

STM32_ST_USE_TIMER 5

# bootloader starts firmware at 64k
FLASH_RESERVE_START_KB 64

# store parameters in pages 2 and 3
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 15360

# board ID for firmware load
APJ_BOARD_ID 1402

# setup build for a peripheral firmware
env AP_PERIPH 1



define HAL_SUPPORT_RCOUT_SERIAL 0


# disable dual GPS and GPS blending to save flash space
define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1

define HAL_NO_MONITOR_THREAD

define HAL_DISABLE_LOOP_DELAY

define HAL_USE_RTC FALSE
define DISABLE_SERIAL_ESC_COMM TRUE

define HAL_NO_RCIN_THREAD

define HAL_BARO_ALLOW_INIT_NO_BARO

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
define HAL_DISABLE_ADC_DRIVER FALSE


define CAN_APP_NODE_NAME "org.ardupilot.Pixracer_periph"


env DISABLE_SCRIPTING 1

MAIN_STACK 0x2000
PROCESS_STACK 0x6000

# listen for reboot command from uploader.py script
# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN

# --------- Peripherals -----------
define HAL_PERIPH_ENABLE_ADSB
define HAL_PERIPH_ADSB_PORT_DEFAULT 2

define HAL_PERIPH_ENABLE_AIRSPEED
define HAL_AIRSPEED_BUS_DEFAULT 0
define AIRSPEED_MAX_SENSORS 1

define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_GPS_PORT_DEFAULT 3

define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO

define HAL_PERIPH_ENABLE_BATTERY
define HAL_PERIPH_ENABLE_RC_OUT

define HAL_PERIPH_ENABLE_RANGEFINDER
define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 1
define RANGEFINDER_MAX_INSTANCES 1

define HAL_PERIPH_ENABLE_NOTIFY

# --------- LED -----------
# a LED to flash
PB1 LED OUTPUT LOW

# --------- ANALOG -----------
# analog pins
PA2 BATT_VOLTAGE_SENS ADC1
PA3 BATT_CURRENT_SENS ADC1

# define default battery setup
define HAL_BATT_VOLT_PIN 2
define HAL_BATT_CURR_PIN 3
define HAL_BATT_VOLT_SCALE 10.1
define HAL_BATT_CURR_SCALE 17.0

#---------------- SERIAL -----------------------------

# order of UARTs
#            ---------------------------------------
#            | sr0 | sr1 | sr2 | sr3 | sr4 | sr5 | sr6
# AP Name                        GPS
#            ---------------------------------------
SERIAL_ORDER OTG1 USART2 USART3 UART4 EMPTY EMPTY UART7

PA9 VBUS INPUT

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1 is ESP8266 unused
# PB6 USART1_TX USART1
# PB7 USART1_RX USART1

# USART2 serial2 GPS1
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2

# USART3 serial3 telem1
PD8 USART3_TX USART3 NODMA
PD9 USART3_RX USART3
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3

# UART4 is GPS2
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA

# UART7 is debug
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# UART8 serial4 FrSky unused
# PE0 UART8_RX UART8
# PE1 UART8_TX UART8

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

#---------------- I2C -----------------------------

# only one I2C bus in normal config
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

define HAL_USE_I2C TRUE
define STM32_I2C_USE_I2C1 TRUE

define HAL_I2C_CLEAR_ON_TIMEOUT 0

define HAL_I2C_INTERNAL_MASK 0

# only one I2C bus
I2C_ORDER I2C1

# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

#------------------- SPI -----------------------------
# spi bus for Sensors
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PE12 MAG_DRDY INPUT
PE15 MAG_CS CS

PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PD7 BARO_CS CS
# PD10 FRAM_CS CS

# SPI device table. The DEVID values are chosen to match the PX4 port
# of ArduPilot so users don't need to re-do their accel and compass calibrations
# when moving to ChibiOS
SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
# SPIDEV mpu9250     SPI1 DEVID4  MPU9250_CS MODE3   2*MHZ   4*MHZ //future use
# SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ //future use
SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
SPIDEV lis3mdl     SPI1 DEVID5  MAG_CS     MODE3 500*KHZ 500*KHZ
# SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ //unused

# one barometer
BARO MS56XX SPI:ms5611_int

# 2 compasses. R15 has LIS3MDL instead of HMC5843
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
# COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_9

--------------- ALARM -----------------
# PWM output for buzzer
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM

--------------- CAN -----------------

# enable CAN support
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

define HAL_CAN_DRIVER_DEFAULT 1

# --------PWMS -----------

PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
