# hw definition file for processing by chibios_hwdef.py

# for Pixracer bootloader

# MCU class and specific type

MCU STM32F4xx STM32F427xx

# crystal frequency

OSCILLATOR_HZ 24000000

# board ID for firmware load

APJ_BOARD_ID 1101

FLASH_SIZE_KB 2048

# ChibiOS system timer

STM32_ST_USE_TIMER 5

# setup build for a peripheral firmware

env AP_PERIPH 1

define PERIPH_FW TRUE

define HAL_DISABLE_LOOP_DELAY

# bootloader is installed at zero offset

FLASH_RESERVE_START_KB 0

# the location where the bootloader will put the firmware

# we use first 32k

FLASH_BOOTLOADER_LOAD_KB 32

# order of UARTs (and USB)

SERIAL_ORDER OTG1 UART2

PB1 LED_BOOTLOADER OUTPUT

PB3 LED_ACTIVITY OUTPUT

define HAL_LED_ON 1

PA9 VBUS INPUT

STDOUT_SERIAL SD2

STDOUT_BAUDRATE 57600

# make bl baudrate match debug baudrate for easier debugging

define BOOTLOADER_BAUDRATE 57600

# USART2 serial2 telem1

PD3 USART2_CTS USART2

PD4 USART2_RTS USART2

PD5 USART2_TX USART2

PD6 USART2_RX USART2

# OTG1

PA11 OTG_FS_DM OTG1

PA12 OTG_FS_DP OTG1

PA13 JTMS-SWDIO SWD

PA14 JTCK-SWCLK SWD

define HAL_STORAGE_SIZE 16384

# 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

# the first CAN bus

define HAL_USE_CAN TRUE

define STM32_CAN_USE_CAN1 TRUE

PD0 CAN1_RX CAN1

PD1 CAN1_TX CAN1

# reserve 256 bytes for comms between app and bootloader

RAM_RESERVE_START 256

# use DNA

define HAL_CAN_DEFAULT_NODE_ID 0

define CAN_APP_NODE_NAME "org.ardupilot.Pixracer-periph"

# make bl baudrate match debug baudrate for easier debugging

define BOOTLOADER_BAUDRATE 57600

# disable

define HAL_NO_GPIO_IRQ

define HAL_USE_EMPTY_IO TRUE

# 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

# ChibiOS system timer

STM32_ST_USE_TIMER 5