ardupilot/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat

# hw definition file for Zubax GNSS

# MCU class and specific type
MCU STM32F105 STM32F105xC

define STM32F107_MCUCONF

FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 34

# board ID for firmware load
APJ_BOARD_ID 1005

# setup build for a peripheral firmware
env AP_PERIPH 1

define HAL_BOARD_AP_PERIPH_ZUBAXGNSS

define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS"

# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0

# crystal frequency
OSCILLATOR_HZ 16000000

define CH_CFG_ST_FREQUENCY 1000

FLASH_SIZE_KB 256

# reserve space for params
FLASH_RESERVE_END_KB 2

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

# USART3 for debug
#STDOUT_SERIAL SD3
#STDOUT_BAUDRATE 115200

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


PB7 PERIPH_RESET OUTPUT HIGH

#PC1 HWID_BIT0 INPUT
#PC2 HWID_BIT1_INV INPUT
#PC3 HWID_BIT2 INPUT

PB3 LED_BOOTLOADER OUTPUT
PB5 LED_CAN1 OUTPUT
PB4 LED_CAN2 OUTPUT
define HAL_LED_ON 1

# don't enable DMA in UART driver
define HAL_UART_NODMA

# enable CAN support
PA11 CAN_RX CAN
PB9 CAN_TX CAN



# no I2C buses
# I2C_ORDER

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 HAL_USE_EMPTY_IO TRUE
define PORT_INT_REQUIRED_STACK 64

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
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 NO_DATAFLASH TRUE

define DMA_RESERVE_SIZE 0

define PERIPH_FW TRUE
MAIN_STACK 0x100
PROCESS_STACK 0x600
define HAL_DISABLE_LOOP_DELAY

define HAL_NO_ROMFS_SUPPORT

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_NO_GCS
define HAL_NO_MONITOR_THREAD

define HAL_MINIMIZE_FEATURES 0

define HAL_BUILD_AP_PERIPH
define HAL_USE_EMPTY_STORAGE 1

define HAL_DEVICE_THREAD_STACK 768

define AP_PARAM_MAX_EMBEDDED_PARAM 0

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

SERIAL_ORDER

define HAL_STORAGE_SIZE 800

# Add CS pins to ensure they are high in bootloader
PA15 BARO_CS CS
PD2  MAG_CS CS

# reduce the number of CAN RX Buffer
define HAL_CAN_RX_QUEUE_SIZE 32