# hw definition file for f405 Matek CAN GPS

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# bootloader starts firmware at 64k
FLASH_RESERVE_START_KB 64
FLASH_SIZE_KB 1024

# store parameters in pages 2 and 3
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 15360

# board ID for firmware load
APJ_BOARD_ID 6002

define CAN_APP_NODE_NAME "sw-nav-f405"

env AP_PERIPH 1

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32

# crystal frequency
OSCILLATOR_HZ 8000000

# status light, normally disabled so as to not confuse nav light functionality
#PC4 LED OUTPUT LOW GPIO(0)
#define HAL_LED_ON 1

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

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256

# keep ROMFS uncompressed although we do have the runtime ram needed
env ROMFS_UNCOMPRESSED True

# i2c
I2C_ORDER I2C1

PB7 I2C1_SDA I2C1
PB6 I2C1_SCL I2C1

# can
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

# disable serial
define HAL_USE_SERIAL FALSE
define HAL_NO_UARTDRIVER TRUE

define HAL_USE_ADC FALSE

# compass
define HAL_PERIPH_ENABLE_MAG

COMPASS MMC3416 I2C:0:0x30 false ROTATION_NONE

define HAL_COMPASS_MAX_SENSORS 1

# notify led
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_ENABLE_RC_OUT

define DEFAULT_NTF_LED_TYPES 131072 # discrete rgb led (1 << 17)

define AP_NOTIFY_DISCRETE_RGB_ENABLED 1
PA3 LED_CTRL_VIS OUTPUT HIGH GPIO(1) # vis light power
PA1 LED_COLOR OUTPUT LOW GPIO(2)     # red/green
PA2 LED_WHITE OUTPUT LOW GPIO(3)     # white
PB0 LED_IR OUTPUT LOW GPIO(4)        # IR

define DISCRETE_RGB_RED_PIN 3
define DISCRETE_RGB_GREEN_PIN 2
define DISCRETE_RGB_BLUE_PIN 4
define DISCRETE_RGB_POLARITY true

define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1

# don't build on firmware.ardupilot.org
AUTOBUILD_TARGETS None