# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32G474 STM32G474xx

FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 26

# reserve some space for params
APP_START_OFFSET_KB 4

# board ID for firmware load
APJ_BOARD_ID 1027

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency, no crystal for now
OSCILLATOR_HZ 24000000

# assume 256k flash part
FLASH_SIZE_KB 256

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER USART1

# a fault LED
PA1 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 1

# USART1
PA9  USART1_TX USART1 SPEED_HIGH NODMA
PA10 USART1_RX USART1 SPEED_HIGH NODMA

define HAL_USE_SERIAL TRUE

define STM32_SERIAL_USE_USART1 TRUE

define HAL_NO_GPIO_IRQ

define SERIAL_BUFFERS_SIZE 32
define HAL_USE_EMPTY_IO TRUE
define PORT_INT_REQUIRED_STACK 64


define DMA_RESERVE_SIZE 0


MAIN_STACK 0x800
PROCESS_STACK 0x800

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB5 CAN2_RX CAN2
PB6 CAN2_TX CAN2
PB0 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PA7 GPIO_CAN2_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW

# 2nd CAN interface
PB3 CAN3_RX CAN3
PB4 CAN3_TX CAN3
PC4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PA6 GPIO_CAN3_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW

PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

CAN_ORDER 2 1

# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600

# define BOOTLOADER_DEBUG SD1

# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000



define CAN_APP_NODE_NAME "org.ardupilot.G4-ESC"

# Add CS pins to ensure they are high in bootloader
PB12 IMU_CS CS
