# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32G4xx STM32G474xx

FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 32

# reserve some space for params
APP_START_OFFSET_KB 4

# assume 512k flash part
FLASH_SIZE_KB 512

# board ID for firmware load
APJ_BOARD_ID 1053

# setup build for a peripheral firmware
env AP_PERIPH 1

# debug on USART2
STDOUT_SERIAL SD2
STDOUT_BAUDRATE 57600

# crystal frequency
OSCILLATOR_HZ 16000000

define CH_CFG_ST_FREQUENCY 1000000

# order of UARTs
SERIAL_ORDER USART2

# blue LED
PC10 LED_BOOTLOADER OUTPUT HIGH
define HAL_LED_ON 0

PB15 LED_RED OUTPUT HIGH
PC6  LED_GREEN OUTPUT HIGH

# USART2
PA2 USART2_TX USART2
PA3 USART2_RX USART2

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

define HAL_USE_SERIAL TRUE

define STM32_SERIAL_USE_USART1 FALSE
define STM32_SERIAL_USE_USART2 TRUE
define STM32_SERIAL_USE_USART3 FALSE

define HAL_NO_GPIO_IRQ
define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support

PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

define CAN_APP_NODE_NAME "org.ardupilot.HolybroG4_GPS"

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

# use a smaller bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 2500

# Add CS pins to ensure they are high in bootloader
PB1 BARO_CS CS
PC4 GYRO_CS CS
PC14 ICM_CS CS