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121 lines
2.3 KiB
121 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 STM32G441 STM32G441xx |
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# bootloader starts firmware at 22k + 4k (STORAGE_FLASH) |
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FLASH_RESERVE_START_KB 26 |
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# store parameters in pages 11 and 12 |
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STORAGE_FLASH_PAGE 11 |
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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 1046 |
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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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# crystal frequency |
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OSCILLATOR_HZ 24000000 |
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# assume the 128k flash part |
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FLASH_SIZE_KB 128 |
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# order of UARTs |
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SERIAL_ORDER 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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PB6 USART1_TX USART1 SPEED_HIGH |
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PB7 USART1_RX USART1 SPEED_HIGH |
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# LEDs |
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PA10 LED OUTPUT LOW |
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# a CAN/I2C selection LED |
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PA5 LED_CAN_I2C OUTPUT LOW |
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# a fault LED |
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PA6 LED_FAULT OUTPUT LOW |
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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 64 |
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define DMA_RESERVE_SIZE 512 |
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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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# GPIO for CAN/I2C selection |
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PB5 GPIO_CAN_I2C1_SEL INPUT PUSHPULL FLOATING |
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# only one I2C bus in normal config |
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PA15 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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define HAL_USE_I2C TRUE |
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define STM32_I2C_USE_I2C1 TRUE |
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I2C_ORDER I2C1 |
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define HAL_I2C_CLEAR_ON_TIMEOUT 0 |
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define HAL_I2C_INTERNAL_MASK 0 |
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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_MONITOR_THREAD |
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define HAL_MINIMIZE_FEATURES 0 |
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define HAL_DEVICE_THREAD_STACK 0x200 |
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define STORAGE_THD_WA_SIZE 512 |
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define IO_THD_WA_SIZE 512 |
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define AP_PARAM_MAX_EMBEDDED_PARAM 128 |
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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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define CAN_APP_NODE_NAME "org.ardupilot.Hitec-Airspeed" |
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# don't share any DMA channels (there are enough for everyone) |
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DMA_NOSHARE * |
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# default to DLVR 10in |
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AIRSPEED DLVR I2C:0:0x28 10 |
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define AIRSPEED_MAX_SENSORS 1 |
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define HAL_AIRSPEED_BUS_DEFAULT 0 |
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define HAL_PERIPH_ENABLE_AIRSPEED |
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define HAL_AIRSPEED_TYPE_DEFAULT 9
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