g# hw definition file for processing by chibios_pins.py

# 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

# board ID for firmware load
APJ_BOARD_ID 1050

# setup build for a peripheral firmware
env AP_PERIPH 1

# enable watchdog

# crystal frequency
OSCILLATOR_HZ 16000000

# assume the 256k flash part
FLASH_SIZE_KB 256

# order of UARTs
SERIAL_ORDER USART1 USART2

define HAL_CAN_POOL_SIZE 6000

#STDOUT_SERIAL SD1
#STDOUT_BAUDRATE 57600

# USART1 Debug
PA9 USART1_TX USART1 SPEED_HIGH
PA10 USART1_RX USART1 SPEED_HIGH

# USART2 M9N
PA2 USART2_TX USART2 SPEED_HIGH
PA3 USART2_RX USART2 SPEED_HIGH

# LEDs
PB0 LED OUTPUT LOW GPIO(1)

# a fault LED
# PB14 LED_FAULT OUTPUT LOW # red

# SPI1 bus for Baro
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA8 BARO_CS CS

SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
BARO DPS280 SPI:dps310

#SPIDEV Invensensev2 SPI2 DEVID2 IMU_CS  MODE3  2*MHZ  8*MHZ

# QMC5883L
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

I2C_ORDER I2C1

# compass
COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90

# 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 512

define NO_DATAFLASH TRUE

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
PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

CAN_ORDER 1

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
PA4 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_GPS
define HAL_PERIPH_GPS_PORT_DEFAULT 1

define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_AIRSPEED

#BARO MS56XX SPI:ms5611
#BARO BMP388 I2C:0:0x76

# define HAL_SPI_CHECK_CLOCK_FREQ

# WS2812 LED
PA15 TIM2_CH1 TIM2 PWM(1)
PB11 TIM2_CH4 TIM2 PWM(2)