# HW definition file for Sierra-TrueNorth

# 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 1093

# 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

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

PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PA10 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PB12 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH

define HAL_CAN_POOL_SIZE 6000

# 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 compass and airspeed
define HAL_PERIPH_ENABLE_MAG
define HAL_COMPASS_MAX_SENSORS 1  

# PWM, WS2812 LED
PA2 TIM2_CH3 TIM2 PWM(1) GPIO(50)
PA3 TIM2_CH4 TIM2 PWM(2) GPIO(51)

define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNorth"

# SPI1 bus for RM3100
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 RM3100_CS CS

SPIDEV  rm3100 SPI1 DEVID1   RM3100_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180

# LEDs
PB14 LED OUTPUT LOW GPIO(1)

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

# USART1
PA9  USART1_TX USART1 SPEED_HIGH
PB7  USART1_RX USART1 SPEED_HIGH

define HAL_SERIAL_ESC_COMM_ENABLED 1