# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# bootloader starts firmware at 60+ 4k
FLASH_RESERVE_START_KB 64

#MCU F405 store parameters in pages 2 and 3
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 15360

# board ID for firmware load
APJ_BOARD_ID 1064

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency set to 0 to use internal clock
OSCILLATOR_HZ 0

#MCU F405 Flash 1024
FLASH_SIZE_KB 1024

# order of UARTs
SERIAL_ORDER OTG1 USART2 USART3 UART4

define HAL_CAN_POOL_SIZE 6000

#STDOUT_SERIAL SD1
#STDOUT_BAUDRATE 57600


# PWM outputs
PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)

# USART2, ESC telem
PA2 USART2_TX USART2 SPEED_HIGH NODMA
PA3 USART2_RX USART2 SPEED_HIGH NODMA

# USART3
PC10 USART3_TX USART3 SPEED_HIGH NODMA
PC11 USART3_RX USART3 SPEED_HIGH NODMA

# UART4
PA0 UART4_TX UART4 SPEED_HIGH NODMA
PA1 UART4_RX UART4 SPEED_HIGH NODMA

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# LED, active low
PA15 LED OUTPUT HIGH GPIO(1)

# spi2
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# CS pins
PC8 BMI088_A_CS CS
PC9 BMI088_G_CS CS

SPIDEV bmi088_g SPI2 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI2 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ

# one I2C bus
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

I2C_ORDER I2C1

# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

# debugger support 
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512

define DMA_RESERVE_SIZE 2048

# stack for fast interrupts
define PORT_INT_REQUIRED_STACK 64

# MAIN_STACK is stack for ISR handlers
MAIN_STACK 0x300

# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

# ADC inputs
define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE

PA5 VSENSE1 ADC1 SCALE(1)
PA6 VSENSE2 ADC1 SCALE(1)
PB0 VSENSE3 ADC1 SCALE(1)
PB1 VSENSE4 ADC1 SCALE(1)

define AP_STATS_ENABLED 1

define HAL_NO_GCS
define HAL_NO_MONITOR_THREAD

define AP_PARAM_MAX_EMBEDDED_PARAM 512

define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_RC_OUT

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

# enable GPS
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_GPS_PORT_DEFAULT 2
#define HAL_PERIPH_ENABLE_NOTIFY
#define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY

# default ADSB off by setting 0 baudrate
define HAL_PERIPH_ENABLE_ADSB
define HAL_PERIPH_ADSB_PORT_DEFAULT 3
define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600

BARO MS56XX I2C:0:0x76
COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE

define AP_COMPASS_QMC5883P_ENABLED 1
COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180

define HAL_RCIN_THREAD_ENABLED 1