# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32F4xx STM32F412Rx

FLASH_RESERVE_START_KB 0
# two sectors for bootloader, two for storage
FLASH_BOOTLOADER_LOAD_KB 64

# board ID for firmware load
APJ_BOARD_ID 81

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 8000000

# assume 512k flash part
FLASH_SIZE_KB 512

STDOUT_SERIAL SD2
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER

# use safety button to stay in bootloader
PB15 STAY_IN_BOOTLOADER INPUT PULLDOWN
define HAL_STAY_IN_BOOTLOADER_VALUE 1

PA10 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 0

# USART2
PA2 USART2_TX USART2
PA3 USART2_RX USART2

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

define HAL_USE_SERIAL TRUE

define STM32_SERIAL_USE_USART1 FALSE
define STM32_SERIAL_USE_USART2 TRUE
define STM32_SERIAL_USE_USART3 FALSE

define HAL_NO_GPIO_IRQ
define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PB12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB13 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH

define HAL_USE_CAN TRUE
define STM32_CAN_USE_CAN1 TRUE

define CAN_APP_NODE_NAME "org.ardupilot.ARK_GPS"

# make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600

# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000

# Add CS pins to ensure they are high in bootloader
PB0 IMU_CS CS