ardupilot/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat

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

# 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
define STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 8192

# board ID for firmware load
APJ_BOARD_ID 1001

# setup build for a peripheral firmware
env AP_PERIPH 1

STM32_ST_USE_TIMER 5

# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true

# crystal frequency
OSCILLATOR_HZ 16000000

define CH_CFG_ST_FREQUENCY 1000000

# assume 512k flash part
FLASH_SIZE_KB 512

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER USART1 EMPTY EMPTY USART2

# a LED to flash
PB12 LED OUTPUT LOW

# USART1 for debug
PB6 USART1_TX USART1 NODMA
PB7 USART1_RX USART1 NODMA
define HAL_SERIAL0_BAUD_DEFAULT 57600

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

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

# only one I2C bus in normal config
PB4 I2C3_SDA I2C3
PA8 I2C3_SCL I2C3

define HAL_USE_I2C TRUE
define STM32_I2C_USE_I2C3 TRUE

define HAL_I2C_CLEAR_ON_TIMEOUT 0

define HAL_I2C_INTERNAL_MASK 0

# only one I2C bus
I2C_ORDER I2C3

# only one SPI bus in normal config
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI CS
PA4 MAG_CS CS
PA10 MS5611_CS CS

# SPI devices
SPIDEV rm3100 SPI1 DEVID1    MAG_CS MODE0  1*MHZ  1*MHZ
SPIDEV ms5611 SPI1 DEVID2 MS5611_CS MODE3 20*MHZ 20*MHZ

# compass
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_90
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

# baro
BARO BMP388 I2C:0:0x76
BARO MS56XX SPI:ms5611

# PWM output for buzzer
PB10 TIM2_CH3 TIM2 GPIO(77) LOW ALARM

# safety LED, active low
PB1 SAFE_LED OUTPUT HIGH
define SAFE_LED_ON 0

# safety button
PB3 SAFE_BUTTON INPUT PULLDOWN

# WS2812 LED
PB0 TIM3_CH3 TIM3 PWM(1)

define HAL_BARO_ALLOW_INIT_NO_BARO

define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE

define HAL_NO_GPIO_IRQ

# avoid RCIN thread 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

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_USE_CAN TRUE
define STM32_CAN_USE_CAN1 TRUE

# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0

define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps"

define HAL_NO_GCS
define HAL_NO_LOGGING
define HAL_NO_MONITOR_THREAD

define HAL_MINIMIZE_FEATURES 0

define HAL_BUILD_AP_PERIPH

define HAL_DEVICE_THREAD_STACK 768

define AP_PARAM_MAX_EMBEDDED_PARAM 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

# GPS+MAG+BARO+Buzzer+NeoPixels
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_BUZZER
define HAL_PERIPH_NEOPIXEL_COUNT 8
define HAL_PERIPH_NEOPIXEL_CHAN 0
define AP_PERIPH_LED_BRIGHT_DEFAULT 50

# 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