# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32G474 STM32G474xx

# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 30

# store parameters in pages 13 and 14
STORAGE_FLASH_PAGE 13
define HAL_STORAGE_SIZE 800

# board ID for firmware load
APJ_BOARD_ID 1027

# setup build for a peripheral firmware
env AP_PERIPH 1

# enable watchdog

# crystal frequency
OSCILLATOR_HZ 24000000

# use TIM5 to leave TIM2 for LED
STM32_ST_USE_TIMER 5

# assume the 512k flash part
FLASH_SIZE_KB 512

# order of UARTs
SERIAL_ORDER USART1

define HAL_CAN_POOL_SIZE 6000

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# USART1, telemetry
PA9 USART1_TX USART1 SPEED_HIGH
PA10 USART1_RX USART1 SPEED_HIGH

# LEDs
PB10 LED OUTPUT LOW
#PB9 LED_R OUTPUT LOW
PB7 LED_G OUTPUT LOW
PA12 LED_B OUTPUT LOW

# a fault LED
PA1 LED_FAULT OUTPUT LOW

# 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

# spi bus for IMU
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

PB12 IMU_CS CS

# accel interrupts
PB1 ACCEL_INT1 INPUT GPIO(70)
PB2 ACCEL_INT2 INPUT GPIO(71)

SPIDEV adxl327 SPI2 DEVID2 IMU_CS  MODE3  2*MHZ  8*MHZ

# sensing motor position
PC11 HALL_A INPUT GPIO(90)
PC10 HALL_B INPUT GPIO(91)
PA2  HALL_C INPUT GPIO(92)

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
# define STM32_ADC_USE_ADC2 TRUE

#PA4 VSENSE50  ADC2 SCALE(18.39416)
#PA5 VSENSE3v3 ADC2 SCALE(1)

PB11 BAT_CURR_SENS ADC1 SCALE(1)

# ESC interrupt
PC6 ESC_INT INPUT

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
PB5 CAN2_RX CAN2
PB6 CAN2_TX CAN2
PB0 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PA7 GPIO_CAN2_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW

# 2nd CAN interface
PB3 CAN3_RX CAN3
PB4 CAN3_TX CAN3
PC4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PA6 GPIO_CAN3_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW

PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

CAN_ORDER 2 3

# DShot output
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)

# LED on timer
PA15 TIM2_CH1 TIM2 PWM(2) GPIO(51)

define HAL_PERIPH_ENABLE_RC_OUT

define HAL_UART_MIN_TX_SIZE 256
define HAL_UART_MIN_RX_SIZE 128

define HAL_UART_STACK_SIZE 0x200


define HAL_NO_MONITOR_THREAD

define HAL_MINIMIZE_FEATURES 0


define HAL_DEVICE_THREAD_STACK 0x200
define STORAGE_THD_WA_SIZE 512
define IO_THD_WA_SIZE      512

define AP_PARAM_MAX_EMBEDDED_PARAM 512



# 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 "org.ardupilot.G4-ESC"

# don't share any DMA channels (there are enough for everyone)
DMA_NOSHARE *