# TerraHawk charge node: AP_Periph DroneCAN node for the hangar charge path.
# Reads the pack's balance lead (six cells), charge current, shoe-side voltage
# and pack temperature; drives the charge-enable and balancer switches; one
# status LED strip. STM32F405RGT6, 8 MHz crystal. See docs/charge-node.md.

MCU STM32F4xx STM32F405xx

# bootloader in the first 64k, parameters in the next two 16k sectors
FLASH_RESERVE_START_KB 64
FLASH_SIZE_KB 1024
STORAGE_FLASH_PAGE 2
define HAL_STORAGE_SIZE 15360

# Private board id. It only has to agree between hwdef.dat and hwdef-bl.dat.
# IDs 1000 to 19999 are allocated upstream by PR; this board is not registered.
APJ_BOARD_ID 20401

env AP_PERIPH 1

define STM32_ST_USE_TIMER 5
define CH_CFG_ST_RESOLUTION 32

OSCILLATOR_HZ 8000000

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64
define DMA_RESERVE_SIZE 0
define HAL_DEVICE_THREAD_STACK 768
define AP_PARAM_MAX_EMBEDDED_PARAM 512
env ROMFS_UNCOMPRESSED True

# activity LED
PC12 LED OUTPUT LOW
define HAL_LED_ON 0

# SWD stays available: this is a home-made board
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# ---------------------- CAN bus -------------------------
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

# ---------------------- UARTs ---------------------------
# USART1: debug console on a 3-pin header
SERIAL_ORDER USART1
PA9  USART1_TX USART1 SPEED_HIGH NODMA
PA10 USART1_RX USART1 SPEED_HIGH NODMA

# ---------------------- I2C1 ----------------------------
# spare header for a digital current monitor or temperature sensor later
I2C_ORDER I2C1
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1
define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 0

# ---------------------- ADC -----------------------------
define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE

# Balance lead taps, cumulative from pack negative, through 10.1:1 dividers
# (910k over 100k, 0.1 %, Viking ARG03BTC9103, high so the permanently plugged
# balance lead does not drain the pack unevenly; terrahawk-eda a1d96ca, Ryan
# 2026-10-01). SCALE(10.1) is fixed in firmware, so the dividers must be
# accurate; there is no per-cell calibration parameter. Never fit 900k parts
# with SCALE(10.1), or 910k with SCALE(10): each reads 1 % wrong, 0.04 V a cell.
PC0 CELL1 ADC1 SCALE(10.1) ANALOG(1)
PC1 CELL2 ADC1 SCALE(10.1) ANALOG(2)
PC2 CELL3 ADC1 SCALE(10.1) ANALOG(3)
PC3 CELL4 ADC1 SCALE(10.1) ANALOG(4)
PA0 CELL5 ADC1 SCALE(10.1) ANALOG(5)
PA1 CELL6 ADC1 SCALE(10.1) ANALOG(6)

# Pack voltage (1M over 100k from the balance lead top tap), charge current
# (INA180A2 on a 5 mOhm shunt, 0.25 V/A, over the link from the power stage),
# shoe-side voltage at the bridge input (11:1 after a BAV70 diode-OR, over the
# link), pack thermistor (10k NTC, 10k pull-up to 3V3)
PA6 BATT_VOLTAGE_SENS  ADC1 SCALE(1) ANALOG(10)
PA5 BATT_CURRENT_SENS  ADC1 SCALE(1) ANALOG(11)
PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(12)
PA7 PACK_TEMP          ADC1 SCALE(1) ANALOG(13)

# ---------------------- Battery -------------------------
define AP_PERIPH_BATTERY_ENABLED 1
define AP_BATT_MONITOR_MAX_INSTANCES 2

# BATT: the pack, voltage and charge current
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11.0
define HAL_BATT_CURR_SCALE 4.0

# BATT2: shoe-side voltage, voltage only. Reports contact before any current flows.
define HAL_BATT2_MONITOR_DEFAULT 3
define HAL_BATT2_VOLT_PIN 12
define HAL_BATT2_VOLT_SCALE 11.0

# per-cell voltages from the balance lead
define AP_PERIPH_BATTERY_BALANCE_ENABLED 1
define AP_PERIPH_BATTERY_BALANCE_NUMCELLS_DEFAULT 6
define AP_PERIPH_BATTERY_BALANCE_RATE_DEFAULT 2
define AP_PERIPH_BATTERY_BALANCE_CELL1_PIN_DEFAULT 1
define AP_PERIPH_BATTERY_BALANCE_ID_DEFAULT 10

# pack temperature: analog NTC, attached to BATT by TEMP1_SRC in defaults.parm
define AP_PERIPH_DEVICE_TEMPERATURE_ENABLED 1
define AP_TEMPERATURE_SENSOR_ENABLED 1
define AP_TEMPERATURE_SENSOR_ANALOG_ENABLED 1

# ---------------------- Relays --------------------------
# RELAY1 = charge-enable P-MOSFET gate driver, RELAY2 = balancer power.
# Both default off. Driven from the FC by DroneCAN hardpoint 0 and 1.
PB0 CHARGE_EN OUTPUT LOW GPIO(50)
PB1 BAL_EN    OUTPUT LOW GPIO(51)
define AP_PERIPH_RELAY_ENABLED 1
define AP_RELAY_ENABLED 1
define AP_RELAY_NUM_RELAYS 2
define RELAY1_PIN_DEFAULT 50
define RELAY2_PIN_DEFAULT 51

# ---------------------- Status LEDs ---------------------
# WS2812 strip visible through the hatch, on OUT1
PA15 TIM2_CH1 TIM2 PWM(1) GPIO(58)
define AP_PERIPH_RC_OUT_ENABLED 1
define AP_PERIPH_NOTIFY_ENABLED 1
# built-in LED plus NeoPixel
define DEFAULT_NTF_LED_TYPES 257