ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat

# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32G4xx STM32G491xx

FLASH_RESERVE_START_KB 36

STORAGE_FLASH_PAGE 16
define HAL_STORAGE_SIZE 800

# board ID for firmware load
APJ_BOARD_ID 5301

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 16000000

# ChibiOS system timer
STM32_ST_USE_TIMER 15
define CH_CFG_ST_RESOLUTION 16

define CH_CFG_ST_FREQUENCY 1000000

FLASH_SIZE_KB 256

# order of UARTs
SERIAL_ORDER EMPTY USART2

# USART2, GPS
PB3 USART2_TX USART2 SPEED HIGH
PB4 USART2_RX USART2 SPEED HIGH

# USART1, debug, disabled to save flash
# PB6 USART1_TX USART1
# PB7 USART1_RX USART1

# SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# one SPI bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI CS
PA9 RM3100_CS CS
PA10 DPS310_CS CS

# GPS PPS
PA15 GPS_PPS_IN INPUT

# Baro probe
SPIDEV dps310 SPI1 DEVID3 DPS310_CS MODE3 5*MHZ 5*MHZ
BARO DPS310 SPI:dps310

# Mag probe
SPIDEV  rm3100 SPI1 DEVID1   RM3100_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
define AP_RM3100_REVERSAL_MASK 7

define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE
define HAL_NO_GPIO_IRQ

# avoid RCIN thread to save memory
define HAL_NO_RCIN_THREAD

define HAL_USE_RTC FALSE
define DMA_RESERVE_SIZE 0
define HAL_DISABLE_LOOP_DELAY
define HAL_NO_MONITOR_THREAD

define HAL_DEVICE_THREAD_STACK 768

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PA2 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW

# disable dual GPS and GPS blending to save flash space
define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1

# GPS+MAG+BARO+LEDs
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
define DEFAULT_NTF_LED_TYPES 455

# single baro
define BARO_MAX_INSTANCES 1

# GPS on 1st port
define HAL_PERIPH_GPS_PORT_DEFAULT 1

# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the bootloader at runtime
env ROMFS_UNCOMPRESSED True

# PWM, WS2812 LED
PA3 TIM2_CH4 TIM2 PWM(1)

DMA_NOSHARE USART2*

define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro-G4"