# 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 1109

# crystal frequency
OSCILLATOR_HZ 8000000
env AP_PERIPH 1
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

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

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 512

# blue LED0 marked as ACT
PB3 LED OUTPUT HIGH
define HAL_LED_ON 1

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

# I2C bus
I2C_ORDER I2C2
PB13 I2C2_SCL I2C2
PB14 I2C2_SDA I2C2
define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 1

# CAN bus
CAN_ORDER 1
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_CAN_POOL_SIZE 12000

# UARTs
SERIAL_ORDER USART1 EMPTY EMPTY

# USART1
PB6  USART1_TX USART1 SPEED_HIGH
PB7  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 GPS_MAX_RATE_MS 200
define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_PERIPH_GPS_PORT_DEFAULT 0

# allow for F9P GPS modules with moving baseline
define GPS_MOVING_BASELINE 1
define HAL_PERIPH_ENABLE_MAG
define HAL_COMPASS_MAX_SENSORS 1

# QMC5883L for different board varients
COMPASS QMC5883L I2C:0:0xd false ROTATION_YAW_180

# no ADC pins
define HAL_USE_ADC FALSE

# disable unnecessary threads
define HAL_NO_TIMER_THREAD

# enable LED
define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_ENABLE_NOTIFY

#GPIO LED
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 
PB2 LED_RED OUTPUT OPENDRAIN HIGH GPIO(0) 
PB4 LED_GREEN OUTPUT OPENDRAIN LOW GPIO(1) 
PB5 LED_BLUE OUTPUT OPENDRAIN LOW GPIO(2) 
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0 
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1 
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2