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# hw definition file for processing by chibios_pins.py |
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# MCU class and specific type |
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MCU STM32F4xx STM32F412Rx |
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FLASH_RESERVE_START_KB 0 |
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# two sectors for bootloader, two for storage |
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FLASH_BOOTLOADER_LOAD_KB 64 |
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# board ID for firmware load |
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APJ_BOARD_ID 1035 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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# debug on USART2 |
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STDOUT_SERIAL SD2 |
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STDOUT_BAUDRATE 57600 |
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# crystal frequency |
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OSCILLATOR_HZ 16000000 |
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define CH_CFG_ST_FREQUENCY 1000000 |
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# assume 512k flash part |
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FLASH_SIZE_KB 512 |
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# order of UARTs |
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SERIAL_ORDER USART2 |
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# workaround missing define in headers |
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define RCC_AHB1RSTR_OTGHRST 0x20000000 |
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# blue LED |
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PB15 LED_BOOTLOADER OUTPUT HIGH |
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define HAL_LED_ON 0 |
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# USART2 |
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PA2 USART2_TX USART2 |
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PA3 USART2_RX USART2 |
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# SWD debugging |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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define HAL_USE_SERIAL TRUE |
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define STM32_SERIAL_USE_USART1 FALSE |
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define STM32_SERIAL_USE_USART2 TRUE |
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define STM32_SERIAL_USE_USART3 FALSE |
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define HAL_NO_GPIO_IRQ |
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define HAL_USE_EMPTY_IO TRUE |
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# avoid timer and RCIN threads to save memory |
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define HAL_NO_TIMER_THREAD |
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define HAL_NO_RCIN_THREAD |
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define HAL_USE_RTC FALSE |
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define DISABLE_SERIAL_ESC_COMM TRUE |
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define NO_DATAFLASH TRUE |
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define DMA_RESERVE_SIZE 0 |
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define PERIPH_FW TRUE |
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define HAL_DISABLE_LOOP_DELAY |
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define HAL_USE_EMPTY_STORAGE 1 |
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define HAL_STORAGE_SIZE 16384 |
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# enable CAN support |
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PA11 CAN1_RX CAN1 |
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PA12 CAN1_TX CAN1 |
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PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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PB12 CAN2_RX CAN2 |
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PB13 CAN2_TX CAN2 |
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PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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define CAN_APP_NODE_NAME "org.ardupilot.HolybroGPS" |
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# use DNA |
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define HAL_CAN_DEFAULT_NODE_ID 0 |
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# make bl baudrate match debug baudrate for easier debugging |
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define BOOTLOADER_BAUDRATE 57600 |
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# use a smaller bootloader timeout |
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define HAL_BOOTLOADER_TIMEOUT 2500 |
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# reserve 256 bytes for comms between app and bootloader |
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RAM_RESERVE_START 256 |
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# Add CS pins to ensure they are high in bootloader |
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PA8 ACC_CS CS |
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# hw definition file for processing by chibios_pins.py |
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# MCU class and specific type |
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# MCU class and specific type |
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MCU STM32F4xx STM32F412Rx |
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# bootloader starts firmware at 64k |
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FLASH_RESERVE_START_KB 64 |
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# store parameters in pages 2 and 3 |
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define STORAGE_FLASH_PAGE 2 |
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define HAL_STORAGE_SIZE 8192 |
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# board ID for firmware load |
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APJ_BOARD_ID 1035 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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STM32_ST_USE_TIMER 5 |
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# enable watchdog |
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define HAL_WATCHDOG_ENABLED_DEFAULT true |
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# crystal frequency |
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OSCILLATOR_HZ 16000000 |
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define CH_CFG_ST_FREQUENCY 1000000 |
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# assume 512k flash part |
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FLASH_SIZE_KB 512 |
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# debug on USART2 |
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STDOUT_SERIAL SD2 |
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STDOUT_BAUDRATE 57600 |
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# order of UARTs |
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SERIAL_ORDER USART2 USART1 |
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# sensor power control |
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PC15 VDD_3V3_SENSORS_EN OUTPUT HIGH |
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# LEDs |
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PB15 LED OUTPUT HIGH GPIO(2) # blue |
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PA7 LED_R OUTPUT HIGH GPIO(0) |
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PB14 LED_G OUTPUT HIGH GPIO(1) |
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define HAL_GPIO_A_LED_PIN 0 |
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define HAL_GPIO_B_LED_PIN 1 |
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define HAL_GPIO_C_LED_PIN 2 |
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define HAL_GPIO_LED_ON 0 |
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define HAL_GPIO_LED_OFF 1 |
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define HAL_HAVE_PIXRACER_LED |
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# USART1, GPS |
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PA9 USART1_TX USART1 NODMA |
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PA10 USART1_RX USART1 NODMA |
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# USART2, debug |
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PA2 USART2_TX USART2 |
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PA3 USART2_RX USART2 |
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# SWD debugging |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# I2C1 bus |
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PB7 I2C1_SDA I2C1 |
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PB6 I2C1_SCL I2C1 |
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# I2C2 bus |
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PB3 I2C2_SDA I2C2 |
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PB10 I2C2_SCL I2C2 |
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define HAL_I2C_INTERNAL_MASK 3 |
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# I2C buses |
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I2C_ORDER I2C1 I2C2 |
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# one SPI bus |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PB5 SPI1_MOSI SPI1 |
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# SPI CS |
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PA8 ACC_CS CS |
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# version sense |
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PA0 HW_REV_SENSE INPUT |
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PA1 HW_VER_SENSE INPUT |
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PB1 HW_VER_REV_DRIVE INPUT |
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# GPS PPS |
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PA15 GPS_PPS_IN INPUT |
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# SPI devices |
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SPIDEV bmi088_a SPI1 DEVID1 ACC_CS MODE3 10*MHZ 10*MHZ |
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# compass |
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COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_90 |
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# baro |
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BARO BMP388 I2C:0:0x77 |
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# IMU |
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IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 |
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define HAL_BARO_ALLOW_INIT_NO_BARO |
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define HAL_USE_ADC FALSE |
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define STM32_ADC_USE_ADC1 FALSE |
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define HAL_DISABLE_ADC_DRIVER TRUE |
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define HAL_NO_GPIO_IRQ |
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# avoid RCIN thread to save memory |
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define HAL_NO_RCIN_THREAD |
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define HAL_USE_RTC FALSE |
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define DISABLE_SERIAL_ESC_COMM TRUE |
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define NO_DATAFLASH TRUE |
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define DMA_RESERVE_SIZE 0 |
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define PERIPH_FW TRUE |
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define HAL_DISABLE_LOOP_DELAY |
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# enable CAN support |
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PA11 CAN1_RX CAN1 |
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PA12 CAN1_TX CAN1 |
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PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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PB12 CAN2_RX CAN2 |
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PB13 CAN2_TX CAN2 |
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PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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# use DNA |
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define HAL_CAN_DEFAULT_NODE_ID 0 |
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define CAN_APP_NODE_NAME "org.ardupilot.HolybroGPS" |
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define HAL_NO_GCS |
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define HAL_NO_LOGGING |
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define HAL_NO_MONITOR_THREAD |
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define HAL_MINIMIZE_FEATURES 0 |
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define HAL_BUILD_AP_PERIPH |
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define HAL_DEVICE_THREAD_STACK 768 |
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# we setup a small defaults.parm |
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define AP_PARAM_MAX_EMBEDDED_PARAM 256 |
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# disable dual GPS and GPS blending to save flash space |
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define GPS_MAX_RECEIVERS 1 |
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define GPS_MAX_INSTANCES 1 |
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define HAL_COMPASS_MAX_SENSORS 1 |
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# GPS+MAG+BARO+LEDs |
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define HAL_PERIPH_ENABLE_GPS |
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define HAL_PERIPH_ENABLE_MAG |
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define HAL_PERIPH_ENABLE_BARO |
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define HAL_PERIPH_ENABLE_NOTIFY |
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define HAL_PERIPH_ENABLE_RC_OUT |
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# GPS on 2nd port |
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define HAL_PERIPH_GPS_PORT_DEFAULT 1 |
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# enable NCP5623 on 2nd I2C bus |
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define BUILD_DEFAULT_LED_TYPE 128 |
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# use the app descriptor needed by MissionPlanner for CAN upload |
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env APP_DESCRIPTOR MissionPlanner |
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# reserve 256 bytes for comms between app and bootloader |
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RAM_RESERVE_START 256 |
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