# hw definition file for processing by chibios_pins.py

# Sierra-M9N Firmware

# 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 1055

# 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

# Flash available
FLASH_SIZE_KB 1024

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER USART1 EMPTY EMPTY USART2

# USART1 for debug
PA9 USART1_TX USART1
PA10 USART1_RX USART1
define HAL_SERIAL0_BAUD_DEFAULT 57600

# Enable the sensor voltage pin
PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH

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

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

# SPI sensors
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI CS
PB12 MAG_CS CS
PA8 BARO_CS CS

# Baro probe
SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
BARO DPS310 SPI:dps310

# Mag probe
SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

# PWM, WS2812 LED
PB8 TIM4_CH3 TIM4 PWM(1) GPIO(50)
PB9 TIM4_CH4 TIM4 PWM(2) GPIO(51)
PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52)
PB4 TIM3_CH1 TIM3 PWM(4) GPIO(53)

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
#define HAL_DISABLE_ADC_DRIVER TRUE
PA0 VSENSE ADC1 SCALE(2)

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 DMA_RESERVE_SIZE 0
define PERIPH_FW TRUE
define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1

# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0
define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F412"

define HAL_NO_MONITOR_THREAD
define HAL_MINIMIZE_FEATURES 0
define HAL_BUILD_AP_PERIPH
define HAL_DEVICE_THREAD_STACK 768

# 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_GPS_PORT_DEFAULT 3
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY

# 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

# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256

#GPS M9N
PC11 M9EXTINT INPUT
PC10 M9RST INPUT
PC8 GPS_PPS_IN INPUT
PC7 M9SB INPUT