ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat

# hw definition file for processing by chibios_pins.py

# Sierra-PrecisionPoint

# MCU class and specific type
MCU STM32F4xx STM32F412Rx

# 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 8192

# board ID for firmware load
APJ_BOARD_ID 1095

# setup build for a peripheral firmware
env AP_PERIPH 1

STM32_ST_USE_TIMER 5

# crystal frequency
OSCILLATOR_HZ 16000000

# assume 512k flash part
FLASH_SIZE_KB 512

# USB
PA11 USB_FS_DM OTG1
PA12 USB_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN

# USB setup
USB_STRING_MANUFACTURER "Sierra Aerospace"
USB_STRING_PRODUCT "Sierra-PrecisionPoint"

# order of UARTs
SERIAL_ORDER OTG1 USART1 USART2

# USART1 for debug
PB6 USART1_TX USART1 NODMA
PB7 USART1_RX USART1 NODMA

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

# GPS on 2nd port
define HAL_PERIPH_GPS_PORT_DEFAULT 1

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

# Add CS pins
PC0 RM3100_CS CS
PC1 DPS310_CS CS
PC4 ICM42688_CS CS

# --------------------- SPI1 ICM42688 -----------------------
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PC5 ICM42688_DRDY INPUT

SPIDEV icm42688 SPI1 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90

# SPI1 FSYNC for ICM42688p
# PB0 TIM3_CH3 TIM3

# --------------------- SPI2 DPS310+RM3100 -----------------------
PB10 SPI2_SCK SPI2
PC2  SPI2_MISO SPI2
PC3  SPI2_MOSI SPI2

# Baro probe
SPIDEV dps310 SPI2 DEVID2 DPS310_CS MODE3 5*MHZ 5*MHZ
BARO DPS310 SPI:dps310

# Mag probe
SPIDEV  rm3100 SPI2 DEVID1 RM3100_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
# define AP_RM3100_REVERSAL_MASK 7

# WS2812 LEDs
PA15 TIM2_CH1 TIM2 PWM(1)

# Board voltage ADC
define HAL_USE_ADC TRUE
PA0 VDD_5V_SENS ADC1 SCALE(2)

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB14 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW

define CAN_APP_NODE_NAME "in.sierraaerospace.PrecisionPoint"

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256

# 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

# GPS+MAG+BARO+NeoPixels
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY

# PB5  GPS_PPS INPUT FLOATING GPIO(6)
# define CONFIGURE_PPS_PIN TRUE
# define HAL_GPIO_PPS 6
# PB4 F9P_TX_READY INPUT

# allow for F9P GPS modules with moving baseline
define GPS_MOVING_BASELINE 1
define GPS_MAX_RATE_MS 200

# Logging
define HAL_LOGGING_ENABLED 1
define HAL_PERIPH_ENABLE_RTC 1
define HAL_OS_FATFS_IO 1

# SD Card pins
PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
PC10 SDIO_D2 SDIO
PC11 SDIO_D3 SDIO
PC12 SDIO_CK SDIO
PD2 SDIO_CMD SDIO

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

# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

# USB select
PC6 USB_SEL OUTPUT PUSHPULL SPEED_LOW HIGH

define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
define HAL_MONITOR_THREAD_ENABLED 1