# hw definition file for processing by chibios_pins.py # MCU class and specific type MCU STM32F103 STM32F103xB # bootloader starts firmware at 25k FLASH_RESERVE_START_KB 25 # store parameters in pages 23 and 24 define STORAGE_FLASH_PAGE 23 define HAL_STORAGE_SIZE 800 # board ID for firmware load APJ_BOARD_ID 1000 # setup build for a peripheral firmware env AP_PERIPH 1 # crystal frequency OSCILLATOR_HZ 8000000 define CH_CFG_ST_FREQUENCY 1000 # assume the 128k flash part for now FLASH_SIZE_KB 128 # board voltage STM32_VDD 330U # order of UARTs UART_ORDER USART2 USART1 # a LED to flash PA4 LED OUTPUT LOW # USART1, connected to GPS PA9 USART1_TX USART1 SPEED_HIGH NODMA PA10 USART1_RX USART1 SPEED_HIGH NODMA # USART2 for debug PA2 USART2_TX USART2 SPEED_HIGH NODMA PA3 USART2_RX USART2 SPEED_HIGH NODMA define HAL_UART_NODMA # only one I2C bus in normal config PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 PB0 MAG_CS CS # spi bus for compass PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ # analog input # PA5 VIN5 ADC1 define HAL_USE_ADC TRUE define STM32_ADC_USE_ADC1 TRUE define HAL_DISABLE_ADC_DRIVER TRUE define HAL_NO_GPIO_IRQ define CH_CFG_ST_TIMEDELTA 0 #define CH_CFG_USE_DYNAMIC FALSE define SERIAL_BUFFERS_SIZE 512 define PORT_INT_REQUIRED_STACK 64 # avoid timer and RCIN threads to save memory define HAL_NO_TIMER_THREAD define HAL_NO_RCIN_THREAD #defined to turn off undef warnings define __FPU_PRESENT 0 define HAL_USE_RTC FALSE define DISABLE_SERIAL_ESC_COMM TRUE define NO_DATAFLASH TRUE define DMA_RESERVE_SIZE 0 define PERIPH_FW TRUE # MAIN_STACK is stack of initial thread MAIN_STACK 0x100 # PROCESS_STACK controls stack for main thread PROCESS_STACK 0x600 define HAL_DISABLE_LOOP_DELAY # enable CAN support PA11 CAN_RX CAN PA12 CAN_TX CAN define HAL_USE_CAN TRUE define STM32_CAN_USE_CAN1 TRUE # start with a fixed node ID so the board is usable without DNA define HAL_CAN_DEFAULT_NODE_ID 117 define CAN_APP_VERSION_MAJOR 1 define CAN_APP_VERSION_MINOR 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph" define HAL_USE_I2C TRUE define STM32_I2C_USE_I2C1 TRUE define HAL_NO_ROMFS_SUPPORT define HAL_UART_MIN_TX_SIZE 256 define HAL_UART_MIN_RX_SIZE 128 define CH_DBG_ENABLE_STACK_CHECK TRUE define HAL_UART_STACK_SIZE 256 define STORAGE_THD_WA_SIZE 512 define HAL_NO_GCS define HAL_NO_LOGGING define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 define HAL_BUILD_AP_PERIPH # only one I2C bus I2C_ORDER I2C1 COMPASS RM3100 SPI:rm3100 false ROTATION_NONE define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_DEVICE_THREAD_STACK 768 define AP_PARAM_MAX_EMBEDDED_PARAM 0 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 # disable dual GPS and GPS blending to save flash space define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 # GPS+MAG define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG