# hw definition file for processing by chibios_pins.py

# Sierra RM3100 & Airspeed common hwdef

# MCU class and specific type
MCU STM32L431 STM32L431xx

# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 40

# store parameters in pages 18 and 19
STORAGE_FLASH_PAGE 18
define HAL_STORAGE_SIZE 800

# ChibiOS system timer
STM32_ST_USE_TIMER 15
define CH_CFG_ST_RESOLUTION 16

# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true

# board ID for firmware load
APJ_BOARD_ID 1050

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 16000000

# Flash available
FLASH_SIZE_KB 256

define HAL_CAN_POOL_SIZE 6000

# LEDs
PA15 LED OUTPUT LOW GPIO(1)

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER USART1

# 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 SERIAL_BUFFERS_SIZE 32

# SPI1 bus for RM3100
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PB12 MAG_CS CS

# compass
SPIDEV rm3100 SPI1 DEVID1    MAG_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

# MS4525DO Airspeed
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 1

I2C_ORDER I2C1

# 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 DMA_RESERVE_SIZE 2048

# 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
CAN_ORDER 1

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
PA0 VSENSE ADC1 SCALE(2)

define HAL_GCS_ENABLED 0
define HAL_NO_MONITOR_THREAD
define HAL_NO_LOGGING
define HAL_MINIMIZE_FEATURES 0
define AP_PARAM_MAX_EMBEDDED_PARAM 512

define CAN_APP_NODE_NAME "org.ardupilot.Sierra-L431"

define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_AIRSPEED
define AIRSPEED_MAX_SENSORS 1
define HAL_AIRSPEED_TYPE_DEFAULT 1