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135 lines
2.5 KiB
135 lines
2.5 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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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 1053 |
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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 12000000 |
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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 USART2 USART3 UART4 |
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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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# PWM outputs |
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PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50) |
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PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51) |
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PC6 TIM3_CH1 TIM3 PWM(3) GPIO(52) # LED |
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# USART2, ESC telem |
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PA2 USART2_TX USART2 SPEED_HIGH NODMA |
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PA3 USART2_RX USART2 SPEED_HIGH NODMA |
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# USART3 |
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PC4 USART3_TX USART3 SPEED_HIGH NODMA |
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PC5 USART3_RX USART3 SPEED_HIGH NODMA |
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# UART4 |
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PA0 UART4_TX UART4 SPEED_HIGH NODMA |
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PA1 UART4_RX UART4 SPEED_HIGH NODMA |
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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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# LED, active low |
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PA13 LED OUTPUT HIGH GPIO(1) |
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# spi2 |
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PB10 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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# CS pins |
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PC8 BMI088_A_CS CS |
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PC9 BMI088_G_CS CS |
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SPIDEV bmi088_g SPI2 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ |
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SPIDEV bmi088_a SPI2 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ |
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# one I2C bus |
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PB6 I2C4_SCL I2C4 |
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PB7 I2C4_SDA I2C4 |
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I2C_ORDER I2C4 |
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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 (disabled as conflicts with LED) |
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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 DMA_RESERVE_SIZE 2048 |
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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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PB8 CAN1_RX CAN1 |
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PB9 CAN1_TX CAN1 |
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# ADC inputs |
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define HAL_USE_ADC TRUE |
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define STM32_ADC_USE_ADC1 TRUE |
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PA4 VSENSE1 ADC1 SCALE(1) |
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PA5 VSENSE2 ADC1 SCALE(1) |
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PA6 VSENSE3 ADC1 SCALE(1) |
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PB1 VSENSE4 ADC1 SCALE(1) |
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define HAL_NO_GCS |
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define HAL_NO_MONITOR_THREAD |
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define AP_PARAM_MAX_EMBEDDED_PARAM 512 |
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define CAN_APP_NODE_NAME "org.ardupilot.CarbonixL496" |
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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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# enable ESC control |
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define HAL_SUPPORT_RCOUT_SERIAL 1 |
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define HAL_WITH_ESC_TELEM 1 |
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BARO MS56XX I2C:0:0x76 |
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COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE |
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