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137 lines
3.0 KiB
137 lines
3.0 KiB
# hw definition file for processing by chibios_pins.py |
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# Sierra-M9N Firmware |
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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 1055 |
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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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# Flash available |
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FLASH_SIZE_KB 1024 |
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STDOUT_SERIAL SD1 |
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STDOUT_BAUDRATE 57600 |
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# order of UARTs |
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SERIAL_ORDER USART1 EMPTY EMPTY USART2 |
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# USART1 for debug |
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PA9 USART1_TX USART1 |
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PA10 USART1_RX USART1 |
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define HAL_SERIAL0_BAUD_DEFAULT 57600 |
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# Enable the sensor voltage pin |
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PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH |
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# USART2 for GPS |
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PA2 USART2_TX USART2 SPEED_HIGH |
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PA3 USART2_RX USART2 SPEED_HIGH |
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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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# SPI sensors |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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# SPI CS |
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PB12 MAG_CS CS |
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PA8 BARO_CS CS |
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# Baro probe |
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SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ |
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BARO DPS310 SPI:dps310 |
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# Mag probe |
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SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ |
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COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180 |
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define AP_RM3100_REVERSAL_MASK 7 |
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# PWM, WS2812 LED |
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PB8 TIM4_CH3 TIM4 PWM(1) GPIO(50) |
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PB9 TIM4_CH4 TIM4 PWM(2) GPIO(51) |
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PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) |
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PB4 TIM3_CH1 TIM3 PWM(4) GPIO(53) |
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define HAL_USE_ADC TRUE |
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define STM32_ADC_USE_ADC1 TRUE |
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#define HAL_DISABLE_ADC_DRIVER TRUE |
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PA0 VSENSE ADC1 SCALE(2) |
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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 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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# use DNA |
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define HAL_CAN_DEFAULT_NODE_ID 0 |
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define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F412" |
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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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# 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+Buzzer+NeoPixels |
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define HAL_PERIPH_ENABLE_GPS |
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define HAL_PERIPH_GPS_PORT_DEFAULT 3 |
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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_RC_OUT |
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define HAL_PERIPH_ENABLE_NOTIFY |
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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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# allow for reboot command for faster development |
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 |
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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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#GPS M9N |
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PC11 M9EXTINT INPUT |
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PC10 M9RST INPUT |
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PC8 GPS_PPS_IN INPUT |
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PC7 M9SB INPUT
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