From fd95c32d886503709ce1a7bece72df2d7c66b17a Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Fri, 27 Aug 2021 12:58:34 +0530
Subject: [PATCH] AP_HAL_ChibiOS: add CubeOrange Periph Heavy build

---
 .../CubeOrange-periph-heavy/hwdef-bl.dat      |  1 +
 .../hwdef/CubeOrange-periph-heavy/hwdef.dat   | 77 +++++++++++++++++++
 2 files changed, 78 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef-bl.dat
new file mode 100644
index 0000000000..f04bb9fee3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef-bl.dat
@@ -0,0 +1 @@
+include ../CubeOrange-periph/hwdef-bl.dat
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
new file mode 100644
index 0000000000..fd31e6ef83
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
@@ -0,0 +1,77 @@
+include ../CubeOrange/hwdef.dat
+
+undef IOMCU_UART
+undef USART6
+undef ROMFS
+undef HAL_HAVE_SAFETY_SWITCH
+undef HAL_CHIBIOS_ARCH_FMUV3
+undef BOOTLOADER_DEV_LIST
+
+# board ID for firmware load
+APJ_BOARD_ID 1400
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+env AP_PERIPH_HEAVY 1
+
+define PERIPH_FW TRUE
+
+define HAL_BUILD_AP_PERIPH
+
+define HAL_PERIPH_ENABLE_BATTERY
+define HAL_PERIPH_ENABLE_BATTERY_MPPT_PACKETDIGITAL
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+define COMPASS_CAL_ENABLED 1
+
+define HAL_INS_ENABLED 1
+
+# use the app descriptor needed by MissionPlanner for CAN upload
+env APP_DESCRIPTOR MissionPlanner
+
+# single GPS and compass for peripherals
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+
+define HAL_NO_MONITOR_THREAD
+
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define HAL_NO_RCIN_THREAD
+
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.CubeOrange-periph"
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+env DISABLE_SCRIPTING 1
+
+# use blue LED
+define HAL_GPIO_PIN_LED HAL_GPIO_PIN_FMU_LED_AMBER
+
+undef HAL_OS_FATFS_IO
+
+undef SDMMC1
+
+MAIN_STACK 0x2000
+PROCESS_STACK 0x6000
+
+define HAL_CAN_DRIVER_DEFAULT 1
+
+# listen for reboot command from uploader.py script
+# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+ 
+