# 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 1047

# setup build for a peripheral firmware
env AP_PERIPH 1

# enable watchdog

# crystal frequency
OSCILLATOR_HZ 0

# assume the 256k flash part
FLASH_SIZE_KB 256

# order of UARTs
SERIAL_ORDER OTG1 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

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# LEDs
PB7 LED OUTPUT LOW GPIO(1)

# a fault LED
# PB14 LED_FAULT OUTPUT LOW # red

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

PB12 IMU_CS CS

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

# one I2C bus
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

I2C_ORDER I2C2

# 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 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

CAN_ORDER 1

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
PA4 VSENSE ADC1 SCALE(2)

define HAL_NO_MONITOR_THREAD

define HAL_MINIMIZE_FEATURES 1


define AP_PARAM_MAX_EMBEDDED_PARAM 512




define CAN_APP_NODE_NAME "org.ardupilot.Nucleo-L496"

define HAL_PERIPH_ENABLE_GPS
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