# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32L496 STM32L496xx

# 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

# board ID for firmware load
APJ_BOARD_ID 1053

# setup build for a peripheral firmware
env AP_PERIPH 1

# enable watchdog

# crystal frequency
OSCILLATOR_HZ 12000000

# assume the 256k flash part
FLASH_SIZE_KB 256

# order of UARTs
SERIAL_ORDER OTG1 USART2 USART3 UART4

define HAL_CAN_POOL_SIZE 6000

#STDOUT_SERIAL SD1
#STDOUT_BAUDRATE 57600


# PWM outputs
PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
PC6 TIM3_CH1 TIM3 PWM(3) GPIO(52) # LED

# USART2, ESC telem
PA2 USART2_TX USART2 SPEED_HIGH NODMA
PA3 USART2_RX USART2 SPEED_HIGH NODMA

# USART3
PC4 USART3_TX USART3 SPEED_HIGH NODMA
PC5 USART3_RX USART3 SPEED_HIGH NODMA

# UART4
PA0 UART4_TX UART4 SPEED_HIGH NODMA
PA1 UART4_RX UART4 SPEED_HIGH NODMA

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# LED, active low
PA13 LED OUTPUT HIGH GPIO(1)

# spi2
PB10 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# CS pins
PC8 BMI088_A_CS CS
PC9 BMI088_G_CS CS

SPIDEV bmi088_g SPI2 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI2 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ

# one I2C bus
PB6 I2C4_SCL I2C4
PB7 I2C4_SDA I2C4

I2C_ORDER I2C4

# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

# debugger support (disabled as conflicts with LED)
#PA13 JTMS-SWDIO SWD
#PA14 JTCK-SWCLK SWD

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512

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
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

# ADC inputs
define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE

PA4 VSENSE1 ADC1 SCALE(1)
PA5 VSENSE2 ADC1 SCALE(1)
PA6 VSENSE3 ADC1 SCALE(1)
PB1 VSENSE4 ADC1 SCALE(1)

define HAL_NO_GCS
define HAL_NO_MONITOR_THREAD

define AP_PARAM_MAX_EMBEDDED_PARAM 512

define CAN_APP_NODE_NAME "org.ardupilot.CarbonixL496"

define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_RC_OUT

# enable ESC control
define HAL_SUPPORT_RCOUT_SERIAL 1
define HAL_WITH_ESC_TELEM 1

BARO MS56XX I2C:0:0x76
COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE