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

# MCU class and specific type
MCU STM32F4xx STM32F412Rx

# default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN

# 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 1085

# setup build for a peripheral firmware
env AP_PERIPH 1

STM32_ST_USE_TIMER 5

# 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
PB0 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
PA3 USART2_RX USART2

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

# one I2C bus
PA8 I2C3_SCL I2C3
PB4 I2C3_SDA I2C3

I2C_ORDER I2C3

# compass
COMPASS RM3100 I2C:0:0x20 false ROTATION_YAW_270

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

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 DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

# sensor power enable
PA12 VDD_SENSOR_EN OUTPUT HIGH

# RTK reset
PA4 RTK_RESET_N OUTPUT HIGH

# PPS
PA7 PPS INPUT PULLUP

define CAN_APP_NODE_NAME "org.ardupilot.C-RTK2-HP"

define HAL_NO_MONITOR_THREAD

define HAL_DEVICE_THREAD_STACK 768

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256

define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1

define HAL_PERIPH_ENABLE_GPS
define GPS_MOVING_BASELINE 1

define HAL_PERIPH_ENABLE_MAG
define HAL_COMPASS_MAX_SENSORS 1

define AP_GPS_BACKEND_DEFAULT_ENABLED 0
define AP_GPS_NMEA_ENABLED 1
define AP_GPS_NMEA_UNICORE_ENABLED 1

define HAL_GPS_TYPE_DEFAULT 25

# custom config once sensor is found
define AP_GPS_NMEA_CUSTOM_CONFIG_STRING "CONFIG COM1 230400 8 N 1"

# custom config for GPS probe
define NMEA_UNICORE_SETUP "CONFIG COM1 230400 8 n 1\r\nGPGGA 0.2\r\n"