# hw definition file for processing by chibios_pins.py
# hardware repository: https://github.com/ARK-Electronics/ARK_GPS

# MCU class and specific type
# note: the device is STM32F412CE, not all F412 pins are available
MCU STM32F4xx STM32F412Rx

# board ID for firmware load
APJ_BOARD_ID 81

env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 8000000

# ChibiOS system timer
STM32_ST_USE_TIMER 5

# bootloader starts firmware at 64k
FLASH_RESERVE_START_KB 64

# assume 512k flash size
FLASH_SIZE_KB 512

# order of I2C buses
I2C_ORDER I2C1 I2C2

define HAL_I2C_INTERNAL_MASK 3

# order of UARTs
# SERIAL_ORDER can be empty - only used to update firmware with uart in addition to can
SERIAL_ORDER USART2 USART1


# pin definitions
# PWM output for buzzer
PA0 TIM2_CH1 TIM2 GPIO(77) LOW ALARM

# safety LED, active low
PA1 SAFE_LED OUTPUT HIGH
define SAFE_LED_ON 0

# USART1 for GPS
PA15 USART1_TX USART1
PB3 USART1_RX USART1

# USART2 debug
PA2 USART2_TX USART2
PA3 USART2_RX USART2

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

# LEDs
PA8  LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
PA9  LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
PA10 LED_B1 OUTPUT OPENDRAIN LOW GPIO(2)

define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2

# use pixracer style 3-LED indicators
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1

# CAN bus
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1

# pins for SWD debugging with a STlink or black-magic probe.
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# CS and DRDY
PB0 MPU_CS CS
PB1 MPU_DRDY INPUT

# I2C bus for magnetometer
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# SPI1 FSYNC for ICM42688p
# PB8 TIM10_CH1 TIM10

# I2C bus for barometer
PB9  I2C2_SDA I2C2
PB10 I2C2_SCL I2C2

PB12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB13 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW

# magnetometer
COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE

# barometer
BARO BMP388 I2C:1:0x76

# store parameters in pages 2 and 3
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 8192

# no ADC pins
define HAL_USE_ADC FALSE

# safety button
PB15 SAFE_BUTTON INPUT PULLDOWN

define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_BUZZER
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY

# GPS on 2nd port
define HAL_PERIPH_GPS_PORT_DEFAULT 1


define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1