# Hitec Mosaic GPS

# MCU class and specific type
MCU STM32F303 STM32F303xC

FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 26

# board ID for firmware load
APJ_BOARD_ID 1016

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 24000000

define CH_CFG_ST_FREQUENCY 1000

# assume 256k flash part
FLASH_SIZE_KB 256

# order of UARTs
SERIAL_ORDER
define HAL_USE_UART FALSE

PA6 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 1

STDOUT_SERIAL SD2
STDOUT_BAUDRATE 57600

# USART2, debug
PA2 USART2_TX USART2 SPEED_HIGH NODMA
PA3 USART2_RX USART2 SPEED_HIGH NODMA

# USART3, GPS
PB10 USART3_TX USART3 SPEED_HIGH NODMA
PB11 USART3_RX USART3 SPEED_HIGH NODMA

define HAL_USE_SERIAL TRUE

define STM32_SERIAL_USE_USART1 FALSE
define STM32_SERIAL_USE_USART2 TRUE
define STM32_SERIAL_USE_USART3 TRUE

PA13 SWDIO-JTMS SWD
PA14 SWCLK-JTCK SWD

define HAL_NO_GPIO_IRQ
define CH_CFG_ST_TIMEDELTA 0
#define CH_CFG_USE_DYNAMIC FALSE
define SERIAL_BUFFERS_SIZE 32
define HAL_USE_EMPTY_IO TRUE
define PORT_INT_REQUIRED_STACK 64

# 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
MAIN_STACK 0x800
PROCESS_STACK 0x800
define HAL_DISABLE_LOOP_DELAY

define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384

# enable CAN support
PB8 CAN_RX CAN
PB9 CAN_TX CAN
PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW GPIO(72)

# reset for GPS
PB6 nGNSS_RESET OUTPUT HIGH GPIO(73)

define HAL_USE_CAN TRUE
define STM32_CAN_USE_CAN1 TRUE

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

# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000

# use LOG_BTN as stay in bootloader, it is active low
PA5 STAY_IN_BOOTLOADER INPUT PULLUP
define HAL_STAY_IN_BOOTLOADER_VALUE 0

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

# Add CS pins to ensure they are high in bootloader
PB1 MAG_CS CS

# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0

define CAN_APP_NODE_NAME "org.ardupilot.HitecMosaic"