# hw definition file for processing by chibios_pins.py

# MCU class and specific type
MCU STM32G4xx STM32G491xx

# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0

define CAN_APP_NODE_NAME "io.mrobotics.mRo-M10095"

# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 30

# store parameters in pages 13 and 14
STORAGE_FLASH_PAGE 13
define HAL_STORAGE_SIZE 800

# setup build for a peripheral firmware
env AP_PERIPH 1

# enable watchdog
define HAL_WATCHDOG_ENABLED_DEFAULT true

# crystal frequency
OSCILLATOR_HZ 8000000

# assume the 512k flash part
FLASH_SIZE_KB 512

# board ID for firmware load
APJ_BOARD_ID 1041

define HAL_CAN_POOL_SIZE 6000

# LEDs
PA4 LED OUTPUT HIGH

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

# Order of I2C buses
I2C_ORDER I2C1

# this board only has a single I2C bus so make it external
define HAL_I2C_INTERNAL_MASK 0

# Now the first I2C bus. The pin speeds are automatically setup
# correctly, but can be overridden here if needed.
PA15 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1

# an I2C baro (DPS310)
BARO DPS280 I2C:0:0x77

define HAL_PERIPH_ENABLE_BARO

PA0 VSENSE50  ADC1 SCALE(3)
PA1 VSENSE3v3 ADC1 SCALE(2)

define DMA_RESERVE_SIZE 2048

define HAL_USE_ADC TRUE

define STM32_ADC_USE_ADC1 TRUE

# order of UARTs
SERIAL_ORDER USART1

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

# USART1, telemetry
PA9 USART1_TX USART1 SPEED_HIGH
PA10 USART1_RX USART1 SPEED_HIGH

# stack for fast interrupts
define PORT_INT_REQUIRED_STACK 64

PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1

define AP_PARAM_MAX_EMBEDDED_PARAM 512

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

# don't share any DMA channels (there are enough for everyone)
DMA_NOSHARE *

define HAL_RCIN_THREAD_ENABLED 1