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184 lines
3.6 KiB
184 lines
3.6 KiB
# hw definition file for processing by chibios_pins.py |
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# MCU class and specific type |
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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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define 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 1001 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 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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STM32_HSE_ENABLED TRUE |
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STM32_PLLM_VALUE 16 |
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STM32_PLLN_VALUE 384 |
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STM32_PLLP_VALUE 4 |
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STM32_PLLQ_VALUE 8 |
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STM32_PLLSRC STM32_PLLSRC_HSE |
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STM32_PREE1 STM32_PREE1_DIV1 |
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STM32_PREE2 STM32_PREE2_DIV1 |
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STM32_HPRE STM32_HPRE_DIV1 |
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STM32_PPRE1 STM32_PPRE1_DIV2 |
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STM32_PPRE2 STM32_PPRE2_DIV2 |
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define CH_CFG_ST_FREQUENCY 1000000 |
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# assume 512k flash part |
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FLASH_SIZE_KB 512 |
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STDOUT_SERIAL SD1 |
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STDOUT_BAUDRATE 57600 |
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# board voltage |
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STM32_VDD 330U |
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# order of UARTs |
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UART_ORDER USART1 USART2 |
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# a LED to flash |
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PB12 LED OUTPUT LOW |
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# USART1 for debug |
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PB6 USART1_TX USART1 NODMA |
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PB7 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 NODMA |
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PA3 USART2_RX USART2 NODMA |
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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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PB4 I2C3_SDA I2C3 |
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PA8 I2C3_SCL I2C3 |
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define HAL_USE_I2C TRUE |
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define STM32_I2C_USE_I2C3 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 I2C3 |
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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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PA4 MAG_CS CS |
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PA10 MS5611_CS CS |
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# SPI devices |
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SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ |
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SPIDEV ms5611 SPI1 DEVID2 MS5611_CS MODE3 20*MHZ 20*MHZ |
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# compass |
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_90 |
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COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180 |
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# baro |
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BARO BMP388 I2C:0:0x76 |
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BARO MS56XX SPI:ms5611 |
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# PWM output for buzzer |
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PB10 TIM2_CH3 TIM2 GPIO(77) LOW ALARM |
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# safety LED, active low |
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PB1 SAFE_LED OUTPUT HIGH |
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define SAFE_LED_ON 0 |
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# safety button |
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PB3 SAFE_BUTTON INPUT PULLDOWN |
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# WS2812 LED |
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PB0 TIM3_CH3 TIM3 PWM(1) |
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define HAL_BARO_ALLOW_INIT_NO_BARO |
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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_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 FALSE |
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define DISABLE_SERIAL_ESC_COMM TRUE |
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define NO_DATAFLASH TRUE |
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define DMA_RESERVE_SIZE 0 |
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define PERIPH_FW TRUE |
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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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PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW |
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define HAL_USE_CAN TRUE |
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define STM32_CAN_USE_CAN1 TRUE |
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# start with a fixed node ID so the board is usable without DNA |
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define HAL_CAN_DEFAULT_NODE_ID 116 |
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define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps" |
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define CH_DBG_ENABLE_STACK_CHECK TRUE |
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define HAL_NO_GCS |
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define HAL_NO_LOGGING |
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define HAL_NO_MONITOR_THREAD |
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define HAL_MINIMIZE_FEATURES 0 |
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define HAL_BUILD_AP_PERIPH |
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define HAL_DEVICE_THREAD_STACK 768 |
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define AP_PARAM_MAX_EMBEDDED_PARAM 0 |
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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_BUZZER |
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define HAL_PERIPH_NEOPIXEL_COUNT 8 |
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define HAL_PERIPH_NEOPIXEL_CHAN 0 |
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define AP_PERIPH_LED_BRIGHT_DEFAULT 50 |
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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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