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167 lines
3.1 KiB
167 lines
3.1 KiB
# hw definition file for Zubax GNSS |
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# MCU class and specific type |
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MCU STM32F105 STM32F105xC |
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define STM32F107_MCUCONF |
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define HAL_BOARD_AP_PERIPH_ZUBAXGNSS |
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define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS" |
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# bootloader starts firmware at 34k |
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FLASH_RESERVE_START_KB 34 |
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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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# store parameters in last 2 pages |
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define STORAGE_FLASH_PAGE 126 |
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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 1005 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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# crystal frequency |
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OSCILLATOR_HZ 16000000 |
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define CH_CFG_ST_FREQUENCY 1000 |
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FLASH_SIZE_KB 256 |
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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 space for params |
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FLASH_RESERVE_END_KB 2 |
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# USART3 for debug |
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STDOUT_SERIAL SD3 |
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STDOUT_BAUDRATE 115200 |
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# board voltage |
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STM32_VDD 330U |
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# enable pin for GPS |
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PB7 GPS_ENABLE OUTPUT HIGH |
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PA15 BARO_CS CS |
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PD2 MAG_CS CS |
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PB6 MAG_DRDY INPUT |
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PC1 HWID_BIT0 INPUT |
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PC2 HWID_BIT1_INV INPUT |
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PC3 HWID_BIT2 INPUT |
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PB3 LED OUTPUT |
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PB5 LED_CAN1 OUTPUT |
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PB4 LED_CAN2 OUTPUT |
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# USART2 for GPS |
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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 for debug |
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PB10 USART3_TX USART3 SPEED_HIGH NODMA |
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PB11 USART3_RX USART3 SPEED_HIGH NODMA |
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# PA13 XPA13 OUTPUT HIGH |
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# PA1 XPA1 INPUT FLOATING |
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# don't enable DMA in UART driver |
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define HAL_UART_NODMA |
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# enable watchdog |
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define HAL_WATCHDOG_ENABLED_DEFAULT true |
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# enable CAN support |
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PA11 CAN_RX CAN |
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PB9 CAN_TX CAN |
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define HAL_USE_CAN TRUE |
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define STM32_CAN_USE_CAN1 TRUE |
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# no I2C buses |
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# I2C_ORDER |
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# spi bus for baro/mag |
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PC10 SPI3_SCK SPI3 SPEED_HIGH |
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PC11 SPI3_MISO SPI3 SPEED_HIGH |
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PC12 SPI3_MOSI SPI3 SPEED_HIGH |
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######################### |
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# order of UARTs |
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UART_ORDER USART3 USART2 |
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SPIDEV ms5611 SPI3 DEVID1 BARO_CS MODE3 8*MHZ 8*MHZ |
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SPIDEV lis3mdl SPI3 DEVID2 MAG_CS MODE3 500*KHZ 500*KHZ |
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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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define CH_CFG_ST_TIMEDELTA 0 |
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define SERIAL_BUFFERS_SIZE 512 |
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define PORT_INT_REQUIRED_STACK 64 |
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# avoid RCIN thread to save memory |
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define HAL_NO_RCIN_THREAD |
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#defined to turn off undef warnings |
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define __FPU_PRESENT 0 |
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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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MAIN_STACK 0x100 |
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PROCESS_STACK 0x600 |
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define HAL_DISABLE_LOOP_DELAY |
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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_UART_MIN_TX_SIZE 256 |
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define HAL_UART_MIN_RX_SIZE 128 |
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define CH_DBG_ENABLE_STACK_CHECK TRUE |
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define HAL_UART_STACK_SIZE 256 |
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define STORAGE_THD_WA_SIZE 512 |
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define HAL_MINIMIZE_FEATURES 0 |
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define HAL_BUILD_AP_PERIPH |
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define HAL_I2C_CLEAR_ON_TIMEOUT 0 |
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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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define HAL_I2C_INTERNAL_MASK 0 |
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# LIS3MDL compass |
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_YAW_270 |
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# MS5611 baro |
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BARO MS56XX SPI:ms5611 |
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define HAL_BARO_ALLOW_INIT_NO_BARO |
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define HAL_CAN_DEFAULT_NODE_ID 114 |
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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_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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