# hw definition file for f405 Holybro CAN PMU

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# bootloader starts firmware at 64k
FLASH_RESERVE_START_KB 64
FLASH_SIZE_KB 1024

# store parameters in pages 2 and 3
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 15360

# board ID for firmware load
APJ_BOARD_ID 5401

env AP_PERIPH 1

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32

# enable watchdog

# crystal frequency
OSCILLATOR_HZ 16000000

STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600

# blue LED0 marked as ACT
PB0 LED OUTPUT HIGH GPIO(90)
define AP_NOTIFY_GPIO_LED_1_ENABLED  1
define AP_NOTIFY_GPIO_LED_1_PIN  90

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64

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

# 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 DMA_RESERVE_SIZE 0

define HAL_DEVICE_THREAD_STACK 768

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256

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

# ---------------------- CAN bus -------------------------
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

# use DNA for node allocation

define CAN_APP_NODE_NAME "org.ardupilot.f405_HolybroPMU"


# ---------------------- UARTs ---------------------------
#           
SERIAL_ORDER USART3 

# USART3, for debug
PC10  USART3_TX USART3 SPEED_HIGH NODMA
PC11  USART3_RX USART3 SPEED_HIGH NODMA

# ---------------------- I2Cs ---------------------------
#           
I2C_ORDER I2C1 

# I2C2, for TEMP SENSOR
PB8  I2C1_SCL I2C1 
PB9  I2C1_SDA I2C1 

# ------------------ BATTERY Monitor -----------------------
define HAL_PERIPH_ENABLE_BATTERY
define HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE

PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

# Set the Default Battery Monitor Type to be Analog I/V
define HAL_BATT_MONITOR_DEFAULT 4

define HAL_BATT_VOLT_PIN 10
define HAL_BATT_VOLT_SCALE 18.0

define HAL_BATT_CURR_PIN 11
define HAL_BATT_CURR_SCALE 125

# ACS772-400U Zero-Current Offset
define AP_BATT_CURR_AMP_OFFSET_DEFAULT 0.409

# ------------------ Temperature Sensor -----------------------
define AP_TEMPERATURE_SENSOR_ENABLED 1
define AP_TEMPERATURE_SENSOR_TSYS03_ENABLED 1
define AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT 64
define AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT 0