# hw definition file for processing by chibios_pins.py
# hardware repository: https://github.com/FlyfocusUAV/Bird-CANdy

# MCU class and specific type
# note: the device is STM32F412CE, not all F412 pins are available
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 1044

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 16000000

define CH_CFG_ST_FREQUENCY 1000000

FLASH_SIZE_KB 512

STDOUT_SERIAL SD6
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER

# CANdy pin 19
PA5 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 1

# CANdy pins 15, 16
# USART6
PA11 USART6_TX USART6
PA12 USART6_RX USART6

# 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 FALSE
define STM32_SERIAL_USE_USART3 FALSE
define STM32_SERIAL_USE_USART4 FALSE
define STM32_SERIAL_USE_USART5 FALSE
define STM32_SERIAL_USE_USART6 TRUE

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 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

define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_USE_CAN TRUE
define STM32_CAN_USE_CAN1 TRUE

define CAN_APP_NODE_NAME "org.ardupilot.birdcandy"

# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0

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

# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000

# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256