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64 lines
1.2 KiB
64 lines
1.2 KiB
# hw definition file for processing by chibios_hwdef.py for the |
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# mRo Pixracer board as a CANBUS Node AP_Periph. |
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# MCU class and specific type |
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MCU STM32F4xx STM32F427xx |
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# board ID for firmware load |
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APJ_BOARD_ID 1402 |
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# crystal frequency |
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OSCILLATOR_HZ 24000000 |
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# flash size |
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FLASH_SIZE_KB 2048 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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# order of UARTs (and USB) |
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SERIAL_ORDER OTG1 USART2 |
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PB1 LED_BOOTLOADER OUTPUT |
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PB3 LED_ACTIVITY OUTPUT |
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define HAL_LED_ON 1 |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# USART2 serial2 telem1 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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define HAL_STORAGE_SIZE 16384 |
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define HAL_USE_EMPTY_STORAGE 1 |
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# location of application code |
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FLASH_BOOTLOADER_LOAD_KB 64 |
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# bootloader loads at start of flash |
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FLASH_RESERVE_START_KB 0 |
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# Add CS pins to ensure they are high in bootloader |
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PC2 MPU9250_CS CS |
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PC15 20608_CS CS |
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PD7 BARO_CS CS |
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PD10 FRAM_CS CS |
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PE15 MAG_CS CS |
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# enable CAN support |
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PD0 CAN1_RX CAN1 |
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PD1 CAN1_TX CAN1 |
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define CAN_APP_NODE_NAME "org.ardupilot.Pixracer-periph" |
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# use DNA |
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define HAL_CAN_DEFAULT_NODE_ID 0 |
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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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PB8 STAY_IN_BOOTLOADER INPUT FLOATING # if pulled low stay in bootloader
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