# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32G4xx STM32G491xx

FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 32

# reserve some space for params
APP_START_OFFSET_KB 4

# 128k flash part
FLASH_SIZE_KB 256

# board ID for firmware load
APJ_BOARD_ID 1103

# setup build for a peripheral firmware
env AP_PERIPH 1

# debug on USART1
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# crystal frequency
OSCILLATOR_HZ 16000000

define CH_CFG_ST_FREQUENCY 1000000

# order of UARTs
SERIAL_ORDER USART1

# blue LED
PA1 LED_BOOTLOADER OUTPUT HIGH
define HAL_LED_ON 1

PA0 LED_RED OUTPUT LOW
PA2 LED_GREEN OUTPUT LOW
PA3 LED_SAFETY OUTPUT LOW
PA4 VDD_3V3_SENSORS_EN OUTPUT LOW

# USART1
PB6 USART1_TX USART1
PB7 USART1_RX USART1

# SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

define HAL_USE_SERIAL TRUE

define STM32_SERIAL_USE_USART1 TRUE
define STM32_SERIAL_USE_USART2 FALSE
define STM32_SERIAL_USE_USART3 FALSE

define HAL_NO_GPIO_IRQ
define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW

define CAN_APP_NODE_NAME "org.ardupilot.rGNSS"

# make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600

# use a smaller bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 2500

# Add CS pins to ensure they are high in bootloader
PB0 MAG_CS CS