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

# MCU class and specific type
# note: the device is STM32F412CG, not all F412 pins are available
MCU STM32F4xx STM32F412Rx

# board ID for firmware load
APJ_BOARD_ID 83

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

# 1Mb flash
FLASH_SIZE_KB 1024

# order of I2C buses
I2C_ORDER I2C1

define HAL_I2C_INTERNAL_MASK 0

# order of UARTs
SERIAL_ORDER USART1 USART2

# pin definitions
# Now we start defining some PWM pins. We also map these pins to GPIO
# values, so users can set SERVOx_FUNCTION=-1 to determine which
# PWM outputs on the primary MCU are set up as GPIOs.
# To match HAL_PX4 we number the GPIOs for the PWM outputs
# starting at 50.
PA0  TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
PA1  TIM2_CH2 TIM2 PWM(2) GPIO(51)
PB10 TIM2_CH3 TIM2 PWM(3) GPIO(52)
PB4  TIM3_CH1 TIM3 PWM(4) GPIO(53) BIDIR
PB5  TIM3_CH2 TIM3 PWM(5) GPIO(54)
PB0  TIM3_CH3 TIM3 PWM(6) GPIO(55)
PB1  TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR
PB7  TIM4_CH2 TIM4 PWM(8) GPIO(58) NODMA   # DMA would be shared with I2C

# USART1 GPS
PA15 USART1_TX USART1
PB3 USART1_RX USART1

# USART2 in debug connector
PA2 USART2_TX USART2
PA3 USART2_RX USART2

# SPI bus for IMU
PB2 MPU_DRDY INPUT
PA4 IMU1_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# LEDs
PA8  LED_R1 OUTPUT HIGH GPIO(0)
PA9  LED_G1 OUTPUT HIGH GPIO(1)
PA10 LED_B1 OUTPUT HIGH 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
PC14 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PC15 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW

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

# SPI1 FSYNC for ICM42688p
# PB8 TIM10_CH1 TIM10

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

# no ADC pins
define HAL_USE_ADC FALSE

# External SPI2
PB12 EXT_CS1 SPI2
PC13 EXT_CS2 SPI2
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# I2C port
PB6 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# SPI device table - can't yet use IMU in AP_Periph
#SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3  2*MHZ  8*MHZ
#IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180

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_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY

define CAN_APP_NODE_NAME "org.ardupilot.ARK_CANNODE"

# enable ESC control
define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_SUPPORT_RCOUT_SERIAL 1
define HAL_WITH_ESC_TELEM 1
define AP_SERIALLED_ENABLED 1

# Rangefinder
define HAL_PERIPH_ENABLE_RANGEFINDER
# disable rangefinder by default
define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1

define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1