# hw definition file for processing by chibios_pins.py
# MCU class and specific type

# MCU class and specific type
MCU STM32G4xx STM32G474xx

FLASH_RESERVE_START_KB 36

STORAGE_FLASH_PAGE 16
define HAL_STORAGE_SIZE 800

# board ID for firmware load
APJ_BOARD_ID 1088

# setup build for a peripheral firmware
env AP_PERIPH 1

# crystal frequency
OSCILLATOR_HZ 16000000

define CH_CFG_ST_FREQUENCY 1000000

# assume 512k flash part
FLASH_SIZE_KB 512

# debug on USART2
STDOUT_SERIAL SD2
STDOUT_BAUDRATE 57600

# order of UARTs
SERIAL_ORDER USART2

# sensor power control
PC11 VDD_3V3_SENSORS_EN OUTPUT HIGH

# LEDs
PC10 LED OUTPUT HIGH GPIO(2) # blue
PB15 LED_R OUTPUT HIGH GPIO(0)
PC6  LED_G OUTPUT HIGH GPIO(1)

define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

define HAL_GPIO_LED_ON  0
define HAL_GPIO_LED_OFF 1

define HAL_HAVE_PIXRACER_LED

# USART2, debug
PA2 USART2_TX USART2
PA3 USART2_RX USART2

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

# one SPI bus
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI CS
PC14 MAG_CS CS

# SPI devices
SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0  1*MHZ  1*MHZ

# compass
COMPASS RM3100 SPI:rm3100 false ROTATION_NONE

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 DISABLE_SERIAL_ESC_COMM TRUE

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

define CAN_APP_NODE_NAME "org.ardupilot.HolybroG4_Compass"

define HAL_NO_LOGGING
define HAL_NO_MONITOR_THREAD

define HAL_DEVICE_THREAD_STACK 768

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256

# MAG
define HAL_PERIPH_ENABLE_MAG

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