# 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