# hw definition file for Zubax GNSS

# MCU class and specific type
MCU STM32F105 STM32F105xC

define STM32F107_MCUCONF

define HAL_BOARD_AP_PERIPH_ZUBAXGNSS

define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS"

# bootloader starts firmware at 34k
FLASH_RESERVE_START_KB 34

# store parameters in last 2 pages
STORAGE_FLASH_PAGE 126
define HAL_STORAGE_SIZE 800

# board ID for firmware load
APJ_BOARD_ID 1005

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 16000000

define CH_CFG_ST_FREQUENCY 1000

FLASH_SIZE_KB 256

# USART3 for debug
STDOUT_SERIAL SD3
STDOUT_BAUDRATE 115200


# enable pin for GPS
PB7 GPS_ENABLE OUTPUT HIGH

PA15 BARO_CS CS
PD2  MAG_CS CS
PB6  MAG_DRDY INPUT

PC1 HWID_BIT0 INPUT
PC2 HWID_BIT1_INV INPUT
PC3 HWID_BIT2 INPUT

PB3 LED OUTPUT
PB5 LED_CAN1 OUTPUT
PB4 LED_CAN2 OUTPUT

# USART2 for GPS
PA2 USART2_TX USART2 SPEED_HIGH NODMA
PA3 USART2_RX USART2 SPEED_HIGH NODMA

# USART3 for debug
PB10 USART3_TX USART3 SPEED_HIGH NODMA
PB11 USART3_RX USART3 SPEED_HIGH NODMA

# PA13 XPA13 OUTPUT HIGH
# PA1 XPA1 INPUT FLOATING

# don't enable DMA in UART driver
define HAL_UART_NODMA

# enable watchdog

# enable CAN support
PA11 CAN_RX CAN
PB9 CAN_TX CAN



# no I2C buses
# I2C_ORDER

# spi bus for baro/mag
PC10 SPI3_SCK SPI3 SPEED_HIGH
PC11 SPI3_MISO SPI3 SPEED_HIGH
PC12 SPI3_MOSI SPI3 SPEED_HIGH

#########################
# order of UARTs
SERIAL_ORDER USART3 EMPTY EMPTY USART2

SPIDEV ms5611  SPI3 DEVID1 BARO_CS MODE3 8*MHZ 8*MHZ
SPIDEV lis3mdl SPI3 DEVID2 MAG_CS MODE3 500*KHZ 500*KHZ

define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE

define HAL_NO_GPIO_IRQ

define CH_CFG_ST_TIMEDELTA 0
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64

# avoid RCIN thread to save memory
define HAL_NO_RCIN_THREAD

#defined to turn off undef warnings
define __FPU_PRESENT 0

define HAL_USE_RTC FALSE
define DISABLE_SERIAL_ESC_COMM TRUE

define DMA_RESERVE_SIZE 0

MAIN_STACK 0x200
PROCESS_STACK 0xA00
define HAL_DISABLE_LOOP_DELAY

define HAL_USE_I2C TRUE
define STM32_I2C_USE_I2C1 TRUE

define HAL_UART_MIN_TX_SIZE 256
define HAL_UART_MIN_RX_SIZE 128

define HAL_UART_STACK_SIZE 256
define STORAGE_THD_WA_SIZE 512


define HAL_I2C_CLEAR_ON_TIMEOUT 0

define HAL_DEVICE_THREAD_STACK 768

define AP_PARAM_MAX_EMBEDDED_PARAM 0

define HAL_I2C_INTERNAL_MASK 0

# LIS3MDL compass
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_YAW_270

# MS5611 baro
BARO MS56XX SPI:ms5611

define HAL_BARO_ALLOW_INIT_NO_BARO


define HAL_NO_MONITOR_THREAD

define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO

# reduce the number of CAN RX Buffer
define HAL_CAN_RX_QUEUE_SIZE 32
