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161 lines
3.5 KiB
161 lines
3.5 KiB
# hw definition file for processing by chibios_pins.py |
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# Sierra-F9P Firmware |
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# MCU class and specific type |
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MCU STM32F4xx STM32F412Rx |
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# bootloader starts firmware at 64k |
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FLASH_RESERVE_START_KB 64 |
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# store parameters in pages 2 and 3 |
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STORAGE_FLASH_PAGE 2 |
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define HAL_STORAGE_SIZE 8192 |
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# board ID for firmware load |
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APJ_BOARD_ID 1034 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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#env AP_PERIPH_HEAVY 1 |
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STM32_ST_USE_TIMER 5 |
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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 16000000 |
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define CH_CFG_ST_FREQUENCY 1000000 |
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# Available Flash |
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FLASH_SIZE_KB 1024 |
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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 EMPTY EMPTY USART2 |
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# USART1 for debug |
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PA9 USART1_TX USART1 NODMA |
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PA10 USART1_RX USART1 NODMA |
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define HAL_SERIAL0_BAUD_DEFAULT 57600 |
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# USART2 for GPS |
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PA2 USART2_TX USART2 SPEED_HIGH |
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PA3 USART2_RX USART2 SPEED_HIGH |
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# SWD debugging |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# only one I2C bus in normal config |
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PB7 I2C1_SDA I2C1 |
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PB6 I2C1_SCL I2C1 |
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define HAL_USE_I2C TRUE |
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define STM32_I2C_USE_I2C1 TRUE |
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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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# only one I2C bus |
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I2C_ORDER I2C1 |
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# only one SPI bus in normal config |
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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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# SPI CS |
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#PC6 ICM_CS CS |
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PC12 BARO_CS CS |
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# SPI devices |
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# ToDo SPI devices |
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#SPIDEV icm20948 SPI1 DEVID1 MPU_CS MODE3 4*MHZ 8*MHZ |
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SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ |
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# Compass |
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 |
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# Baro |
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BARO DPS310 SPI:dps310 |
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# PWM output for buzzer |
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PB5 TIM3_CH2 TIM3 GPIO(77) LOW ALARM |
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# WS2812 LEDs |
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PA15 TIM2_CH1 TIM2 PWM(1) |
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define HAL_USE_ADC TRUE |
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define STM32_ADC_USE_ADC1 TRUE |
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#define HAL_DISABLE_ADC_DRIVER TRUE |
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PA0 VSENSE ADC1 SCALE(2) |
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define HAL_NO_GPIO_IRQ |
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# avoid RCIN thread to save memory |
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define HAL_NO_RCIN_THREAD |
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define HAL_USE_RTC TRUE |
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define DISABLE_SERIAL_ESC_COMM TRUE |
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define DMA_RESERVE_SIZE 0 |
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define HAL_DISABLE_LOOP_DELAY |
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define PERIPH_FW TRUE |
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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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PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F9P" |
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define HAL_NO_MONITOR_THREAD |
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define HAL_BUILD_AP_PERIPH |
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define HAL_DEVICE_THREAD_STACK 768 |
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# we setup a small defaults.parm |
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define AP_PARAM_MAX_EMBEDDED_PARAM 256 |
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# disable dual GPS and GPS blending to save flash space |
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define GPS_MAX_RECEIVERS 1 |
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define GPS_MAX_INSTANCES 1 |
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define HAL_COMPASS_MAX_SENSORS 1 |
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# GPS+MAG+BARO+Buzzer+NeoPixels |
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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_RC_OUT |
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define HAL_PERIPH_ENABLE_NOTIFY |
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define CONFIGURE_PPS_PIN TRUE |
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#define HAL_INS_ENABLED 1 |
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define GPS_MOVING_BASELINE 1 |
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# Logging |
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define HAL_LOGGING_ENABLED 1 |
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define HAL_OS_FATFS_IO 1 |
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" |
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" |
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# SD Card pins |
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PC8 SDIO_D0 SDIO |
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PC9 SDIO_D1 SDIO |
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PC10 SDIO_D2 SDIO |
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PC11 SDIO_D3 SDIO |
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PB15 SDIO_CK SDIO |
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PD2 SDIO_CMD SDIO |
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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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# 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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#Sensors Enable & ESP Enable |
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PB0 VDD_3V3_SENSORS_EN OUTPUT HIGH |
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PC2 ESP_PWR_EN OUTPUT LOW
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