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# mRo CAN PWM breakout
# 12x PWM / IO 3V3 logic level
# Connector options: 90deg 0.1", straight or no headers.
# External power supply for servos in solder pads.
# 1x UART port exposed in solder pads.
# Blue LEd status indicator.
# Uncased Weight and Dimensions:
# Weight: g ()
# Width:  33mm (in)
# Length: 31.3mm (in)
# Screw hole pattern: 19x25mm
# M10126A - Initial release March 2023
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MCU STM32G4xx STM32G474xx

FLASH_RESERVE_START_KB 40
FLASH_SIZE_KB 512

STORAGE_FLASH_PAGE 16
define HAL_STORAGE_SIZE 2000

# board ID for firmware load
APJ_BOARD_ID 1098

OSCILLATOR_HZ 8000000

# setup build for a peripheral firmware
env AP_PERIPH 1

# debug on USART1
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER USART1

# LEDs
PB10 LED OUTPUT HIGH  # blue

# USART1
PB6 USART1_TX USART1 NODMA
PB7 USART1_RX USART1 NODMA

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

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 2048

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1

# 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 "io.mrobotics.mRoCANPWM-M10126"

# PWM - BIDIR config pending
PA0     TIM5_CH1    TIM5    PWM(1)  GPIO(50) 
PA1     TIM5_CH2    TIM5    PWM(2)  GPIO(51) 
PA2     TIM5_CH3    TIM5    PWM(3)  GPIO(52) 
PA3     TIM5_CH4    TIM5    PWM(4)  GPIO(53) 
PB15    TIM15_CH2   TIM15   PWM(5)  GPIO(54) 
PA8     TIM1_CH1    TIM1    PWM(6)  GPIO(55)
PA9     TIM1_CH2    TIM1    PWM(7)  GPIO(56)
PA10    TIM1_CH3    TIM1    PWM(8)  GPIO(57)
PA6     TIM3_CH1    TIM3    PWM(9)  GPIO(58) 
PA7     TIM3_CH2    TIM3    PWM(10) GPIO(59)
PB0     TIM3_CH3    TIM3    PWM(11) GPIO(60)
PB1     TIM3_CH4    TIM3    PWM(12) GPIO(61)

define HAL_PERIPH_ENABLE_RC_OUT
#define HAL_PERIPH_ENABLE_NOTIFY

# enable ESC control
define HAL_SUPPORT_RCOUT_SERIAL 1
define HAL_WITH_ESC_TELEM 1