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112 lines
2.2 KiB
112 lines
2.2 KiB
# hw definition file for processing by chibios_pins.py |
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# Sierra RM3100 & Airspeed common hwdef |
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# MCU class and specific type |
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MCU STM32L431 STM32L431xx |
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# bootloader starts firmware at 36k + 4k (STORAGE_FLASH) |
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FLASH_RESERVE_START_KB 40 |
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# store parameters in pages 18 and 19 |
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STORAGE_FLASH_PAGE 18 |
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define HAL_STORAGE_SIZE 800 |
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# ChibiOS system timer |
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STM32_ST_USE_TIMER 15 |
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define CH_CFG_ST_RESOLUTION 16 |
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# board ID for firmware load |
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APJ_BOARD_ID 1050 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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# crystal frequency |
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OSCILLATOR_HZ 16000000 |
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# Flash available |
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FLASH_SIZE_KB 256 |
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define HAL_CAN_POOL_SIZE 6000 |
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# LEDs |
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PA15 LED OUTPUT LOW GPIO(1) |
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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 |
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# USART1 |
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PA9 USART1_TX USART1 SPEED_HIGH NODMA |
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PA10 USART1_RX USART1 SPEED_HIGH NODMA |
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define SERIAL_BUFFERS_SIZE 512 |
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# SPI1 bus for RM3100 |
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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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PB12 MAG_CS CS |
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# compass |
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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_NONE |
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# MS4525DO Airspeed |
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PB6 I2C1_SCL I2C1 |
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PB7 I2C1_SDA I2C1 |
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define HAL_I2C_CLEAR_ON_TIMEOUT 0 |
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define HAL_I2C_INTERNAL_MASK 1 |
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I2C_ORDER I2C1 |
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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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# debugger support |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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define HAL_NO_GPIO_IRQ |
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define DMA_RESERVE_SIZE 0 |
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# stack for fast interrupts |
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define PORT_INT_REQUIRED_STACK 64 |
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# MAIN_STACK is stack for ISR handlers |
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MAIN_STACK 0x300 |
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# PROCESS_STACK controls stack for main thread |
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PROCESS_STACK 0xA00 |
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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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CAN_ORDER 1 |
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define HAL_USE_ADC TRUE |
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define STM32_ADC_USE_ADC1 TRUE |
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PA0 VDD_5V_SENS ADC1 SCALE(2) |
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define HAL_GCS_ENABLED 0 |
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define HAL_NO_MONITOR_THREAD |
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define HAL_NO_LOGGING |
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define HAL_MINIMIZE_FEATURES 0 |
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define AP_PARAM_MAX_EMBEDDED_PARAM 512 |
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define CAN_APP_NODE_NAME "org.ardupilot.Sierra-L431" |
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define HAL_PERIPH_ENABLE_MAG |
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define HAL_PERIPH_ENABLE_AIRSPEED |
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define AIRSPEED_MAX_SENSORS 1 |
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define HAL_AIRSPEED_TYPE_DEFAULT 1 |
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# keep ROMFS uncompressed as we don't have enough RAM |
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# to uncompress the bootloader at runtime |
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env ROMFS_UNCOMPRESSED True
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