# HW definition file for Sierra-TrueNav Pro

# MCU class and specific type
MCU STM32L431 STM32L431xx

# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 40
FLASH_SIZE_KB 256

# 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 1091

# crystal frequency
OSCILLATOR_HZ 16000000

env AP_PERIPH 1

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64

define DMA_RESERVE_SIZE 0

# MAIN_STACK is stack for ISR handlers
MAIN_STACK 0x300

# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00

# save memory
define HAL_USE_ADC FALSE

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 256

# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# --------------------- SPI1 RM3100+DPS310 -----------------------
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PB12 RM3100_CS CS
PA8 BARO_CS CS

# Baro probe
SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
BARO DPS310 SPI:dps310

# Mag probe
SPIDEV  rm3100 SPI1 DEVID1   RM3100_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
define AP_RM3100_REVERSAL_MASK 7

# ---------------------- CAN bus -------------------------
CAN_ORDER 1

PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW

define HAL_CAN_POOL_SIZE 12000

# ---------------------- UARTs ---------------------------
SERIAL_ORDER USART1

# USART1 for GPS
PA9  USART1_TX USART1 SPEED_HIGH
PA10  USART1_RX USART1 SPEED_HIGH

# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

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

# enable GPS and compass
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY

# disable dual GPS and GPS blending to save flash space
define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1
define HAL_PERIPH_GPS_PORT_DEFAULT 0
define AP_GPS_BACKEND_DEFAULT_ENABLED 0
define AP_GPS_UBLOX_ENABLED 1

# GPS PPS
PA15 GPS_PPS_IN INPUT

# PWM, WS2812 LED
PB10 TIM2_CH3 TIM2 PWM(1) GPIO(50)

define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro"

# Enable GPS LDO
PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH

define HAL_SERIAL_ESC_COMM_ENABLED 1