# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32L476 STM32L476xx

# 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 1051

# 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 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

# status LED
PA5 LED OUTPUT LOW GPIO(1)
define HAL_LED_ON 1

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

# one I2C bus. Pullups added to avoid having to add pullup resistors.
# on production boards correct pullups are needed (between 1k and 2k Ohm)
# and the pullup keyword omitted to use open drain
PB10 I2C2_SCL I2C2 PULLUP
PB11 I2C2_SDA I2C2 PULLUP

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 NO_DATAFLASH TRUE

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_GCS
define HAL_NO_MONITOR_THREAD

define HAL_MINIMIZE_FEATURES 0


define AP_PARAM_MAX_EMBEDDED_PARAM 512




define CAN_APP_NODE_NAME "org.ardupilot.Nucleo-L476"

define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_GPS_PORT_DEFAULT 0

define HAL_PERIPH_ENABLE_MAG
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0

define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_AIRSPEED