ardupilot/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat

# hw definition file for f303 Matek CAN GPS

# MCU class and specific type
MCU STM32F303 STM32F303xC

# bootloader starts firmware at 26k
FLASH_RESERVE_START_KB 26

# store parameters in pages 11 and 12
define STORAGE_FLASH_PAGE 11
define HAL_STORAGE_SIZE 800

# board ID for firmware load
APJ_BOARD_ID 1004

# setup build for a peripheral firmware
env AP_PERIPH 1

# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true

# crystal frequency
OSCILLATOR_HZ 8000000

define CH_CFG_ST_FREQUENCY 1000
define CH_CFG_ST_TIMEDELTA 0

# assume the 256k flash part for now
FLASH_SIZE_KB 256

# a LED to flash
PA4 LED OUTPUT LOW

define HAL_CAN_POOL_SIZE 6000

# only one I2C bus in normal config
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# no ADC driver
define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64

# avoid timer and RCIN threads to save memory
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

# MAIN_STACK is stack of initial thread
MAIN_STACK 0x300

# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0x800
define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN_RX CAN
PA12 CAN_TX CAN

define HAL_CAN_RX_QUEUE_SIZE 32

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 512

define STORAGE_THD_WA_SIZE 512
define IO_THD_WA_SIZE      512

define HAL_NO_GCS

define HAL_MINIMIZE_FEATURES 0

define HAL_BUILD_AP_PERIPH

# only one I2C bus
I2C_ORDER I2C1

define HAL_I2C_CLEAR_ON_TIMEOUT 0

define HAL_DEVICE_THREAD_STACK 512

define AP_PARAM_MAX_EMBEDDED_PARAM 512

define HAL_I2C_INTERNAL_MASK 1

# 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

# use the app descriptor needed by MissionPlanner for CAN upload
env APP_DESCRIPTOR MissionPlanner

# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256

# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the bootloader at runtime
env ROMFS_UNCOMPRESSED True

# order of UARTs
SERIAL_ORDER USART1 EMPTY USART3 USART2

# USART1, for debug
PA9  USART1_TX USART1 SPEED_HIGH NODMA
PA10 USART1_RX USART1 SPEED_HIGH NODMA

# USART2, connected to GPS
PA2 USART2_TX USART2 SPEED_HIGH NODMA
PA3 USART2_RX USART2 SPEED_HIGH NODMA

# USART3, for MSP
PB10  USART3_TX USART3 SPEED_HIGH
PB11  USART3_RX USART3 SPEED_HIGH

# use a default node ID so this works with MSP only
define HAL_CAN_DEFAULT_NODE_ID 112

define CAN_APP_NODE_NAME "org.ardupilot.f303_MatekGPS"

# added QMC5883L mag on I2C
COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90

# I2C baro (DPS310)
BARO DPS310 I2C:0:0x76

# enable builtin GPS, mag and baro
# also allow for airspeed on i2c port, and rangefinder on MSP port
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_AIRSPEED
define HAL_PERIPH_ENABLE_RANGEFINDER
define HAL_PERIPH_ENABLE_MSP

# setup for MSP
define HAL_MSP_ENABLED 1
define AP_PERIPH_MSP_PORT_DEFAULT 2

# disable rangefinder by default
define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1

# the M8 GPS is good at 10Hz, but the M9 is better at 5Hz,
# so stick to 5Hz as the firmware is shared
define GPS_MAX_RATE_MS 200

# 10" DLVR sensor by default
define HAL_AIRSPEED_TYPE_DEFAULT 9
define AIRSPEED_MAX_SENSORS 1