# hw definition file for processing by chibios_hwdef.py for the
# mRo Pixracer board as a CANBUS Node AP_Periph.

# MCU class and specific type
MCU STM32F4xx STM32F427xx

# board ID for firmware load
APJ_BOARD_ID 1402

# crystal frequency
OSCILLATOR_HZ 24000000

# flash size
FLASH_SIZE_KB 2048

# setup build for a peripheral firmware
env AP_PERIPH 1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2

PB1 LED_BOOTLOADER OUTPUT
PB3 LED_ACTIVITY OUTPUT
define HAL_LED_ON 1

PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# USART2 serial2 telem1
PD5 USART2_TX USART2
PD6 USART2_RX USART2

define HAL_STORAGE_SIZE 16384
define HAL_USE_EMPTY_STORAGE 1

# location of application code
FLASH_BOOTLOADER_LOAD_KB 64

# bootloader loads at start of flash
FLASH_RESERVE_START_KB 0

# Add CS pins to ensure they are high in bootloader
PC2 MPU9250_CS CS
PC15 20608_CS CS
PD7 BARO_CS CS
PD10 FRAM_CS CS
PE15 MAG_CS CS

# enable CAN support
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1

define CAN_APP_NODE_NAME "org.ardupilot.Pixracer-periph"

# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0

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

PB8 STAY_IN_BOOTLOADER INPUT FLOATING # if pulled low stay in bootloader