# TerraHawk charge node

An ArduPilot AP_Periph DroneCAN node for the hangar charge path. The design, the
circuit, the parts and the test plan are in `docs/charge-node.md`. This directory holds
the firmware inputs:

| Path | What |
| --- | --- |
| `hwdef/TerraHawkChargeNode/hwdef.dat` | Board definition: pins, ADC channels, features |
| `hwdef/TerraHawkChargeNode/hwdef-bl.dat` | Bootloader definition (USB for the first flash, CAN after) |
| `hwdef/TerraHawkChargeNode/defaults.parm` | Parameters embedded in the firmware |
| `../../tools/charge_interlock.lua` | The interlock script that runs on the flight controller |

## Build

The build runs in ArduPilot's own Docker image against an ArduPilot checkout. Do not
point it at a checkout another tool is using (the SITL tree beside this repo): waf keeps
one configuration per tree, and configuring this board there breaks the SITL build until
it is configured back. Use a copy.

```bash
make firmware ARDUPILOT=/path/to/a/private/ardupilot/copy
```

The target copies `hwdef/TerraHawkChargeNode` into the tree, builds the bootloader, then
the firmware, and copies the outputs to `build/`:

| File | Use |
| --- | --- |
| `AP_Periph_with_bl.hex` | First flash, over USB DFU (hold BOOT0 at power-up) or SWD |
| `AP_Periph.bin` | Later updates over CAN, from Mission Planner's DroneCAN tab |
| `TerraHawkChargeNode_bl.bin` | Bootloader alone, if it ever needs replacing |

The `build/` directory is not tracked.