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130 lines
2.3 KiB
130 lines
2.3 KiB
# hw definition file for processing by chibios_pins.py |
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# MCU class and specific type |
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MCU STM32L496 STM32L496xx |
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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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define STORAGE_FLASH_PAGE 18 |
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define HAL_STORAGE_SIZE 800 |
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# board ID for firmware load |
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APJ_BOARD_ID 1047 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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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 0 |
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# assume the 256k flash part |
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FLASH_SIZE_KB 256 |
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# order of UARTs |
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SERIAL_ORDER OTG1 USART1 |
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define HAL_CAN_POOL_SIZE 6000 |
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#STDOUT_SERIAL SD1 |
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#STDOUT_BAUDRATE 57600 |
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# USART1, telemetry |
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PA9 USART1_TX USART1 SPEED_HIGH |
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PA10 USART1_RX USART1 SPEED_HIGH |
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# USB |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# LEDs |
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PB7 LED OUTPUT LOW GPIO(1) |
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# a fault LED |
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# PB14 LED_FAULT OUTPUT LOW # red |
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# spi bus for IMU |
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PB13 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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PB12 IMU_CS CS |
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SPIDEV Invensensev2 SPI2 DEVID2 IMU_CS MODE3 2*MHZ 8*MHZ |
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# one I2C bus |
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PB10 I2C2_SCL I2C2 |
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PB11 I2C2_SDA I2C2 |
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I2C_ORDER I2C2 |
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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 SERIAL_BUFFERS_SIZE 512 |
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define NO_DATAFLASH TRUE |
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define DMA_RESERVE_SIZE 2048 |
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define PERIPH_FW TRUE |
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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 0x800 |
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define HAL_DISABLE_LOOP_DELAY |
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# enable CAN support |
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PB8 CAN1_RX CAN1 |
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PB9 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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PA4 VSENSE ADC1 SCALE(2) |
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define HAL_NO_GCS |
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define HAL_NO_MONITOR_THREAD |
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define HAL_MINIMIZE_FEATURES 1 |
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define HAL_BUILD_AP_PERIPH |
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define AP_PARAM_MAX_EMBEDDED_PARAM 512 |
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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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# use DNA |
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define HAL_CAN_DEFAULT_NODE_ID 0 |
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define CAN_APP_NODE_NAME "org.ardupilot.Nucleo-L496" |
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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_AIRSPEED |
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BARO MS56XX SPI:ms5611 |
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BARO BMP388 I2C:0:0x76 |
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# define HAL_SPI_CHECK_CLOCK_FREQ
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