# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32G441 STM32G441xx

# bootloader starts firmware at 22k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 26

# store parameters in pages 11 and 12
STORAGE_FLASH_PAGE 11
define HAL_STORAGE_SIZE 800

# board ID for firmware load
APJ_BOARD_ID 1046

# setup build for a peripheral firmware
env AP_PERIPH 1

# enable watchdog

# crystal frequency
OSCILLATOR_HZ 24000000

# assume the 128k flash part
FLASH_SIZE_KB 128

# UARTs disabled to save flash
# order of UARTs
# SERIAL_ORDER USART1
SERIAL_ORDER
define HAL_USE_UART FALSE
define HAL_NO_UARTDRIVER TRUE

define HAL_CAN_POOL_SIZE 6000

# STDOUT_SERIAL SD1
# STDOUT_BAUDRATE 57600

# USART1, telemetry
# PB6 USART1_TX USART1 SPEED_HIGH
# PB7 USART1_RX USART1 SPEED_HIGH

# LEDs
PA10 LED OUTPUT LOW

# a CAN/I2C selection LED
PA5 LED_CAN_I2C OUTPUT LOW

# a fault LED
PA6 LED_FAULT OUTPUT LOW

# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

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

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 64

define DMA_RESERVE_SIZE 512


# stack for fast interrupts
define PORT_INT_REQUIRED_STACK 64

# MAIN_STACK is stack for ISR handlers
MAIN_STACK 0x300

# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1

# GPIO for CAN/I2C selection
PB5 GPIO_CAN_I2C1_SEL INPUT PUSHPULL FLOATING

# only one I2C bus in normal config
PA15 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

define HAL_USE_I2C TRUE
define STM32_I2C_USE_I2C1 TRUE
I2C_ORDER I2C1
define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 0

define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE

define HAL_NO_MONITOR_THREAD


define HAL_DEVICE_THREAD_STACK 0x200
define STORAGE_THD_WA_SIZE 512
define IO_THD_WA_SIZE      512

define AP_PARAM_MAX_EMBEDDED_PARAM 128

define HAL_NO_RCIN_THREAD
define HAL_NO_RCOUT_THREAD


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


define CAN_APP_NODE_NAME "org.ardupilot.Hitec-Airspeed"

# don't share any DMA channels (there are enough for everyone)
DMA_NOSHARE *

# default to DLVR 10in
AIRSPEED DLVR I2C:0:0x28 10
define AIRSPEED_MAX_SENSORS 1
define HAL_AIRSPEED_BUS_DEFAULT 0
define HAL_PERIPH_ENABLE_AIRSPEED
define HAL_AIRSPEED_TYPE_DEFAULT 9