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- # hw definition file for processing by chibios_pins.py
- # MCU class and specific type
- # MCU class and specific type
- MCU STM32F4xx STM32F412Rx
- # bootloader starts firmware at 64k
- FLASH_RESERVE_START_KB 64
- # store parameters in pages 2 and 3
- define STORAGE_FLASH_PAGE 2
- define HAL_STORAGE_SIZE 8192
- # board ID for firmware load
- APJ_BOARD_ID 1001
- # setup build for a peripheral firmware
- env AP_PERIPH 1
- STM32_ST_USE_TIMER 5
- # crystal frequency
- OSCILLATOR_HZ 16000000
- STM32_HSE_ENABLED TRUE
- STM32_PLLM_VALUE 16
- STM32_PLLN_VALUE 384
- STM32_PLLP_VALUE 4
- STM32_PLLQ_VALUE 8
- STM32_PLLSRC STM32_PLLSRC_HSE
- STM32_PREE1 STM32_PREE1_DIV1
- STM32_PREE2 STM32_PREE2_DIV1
- STM32_HPRE STM32_HPRE_DIV1
- STM32_PPRE1 STM32_PPRE1_DIV2
- STM32_PPRE2 STM32_PPRE2_DIV2
- define CH_CFG_ST_FREQUENCY 1000000
- # assume 512k flash part
- FLASH_SIZE_KB 512
- STDOUT_SERIAL SD1
- STDOUT_BAUDRATE 57600
- # board voltage
- STM32_VDD 330U
- # order of UARTs
- UART_ORDER USART1 USART2
- # a LED to flash
- PB12 LED OUTPUT LOW
- # USART1 for debug
- PB6 USART1_TX USART1 NODMA
- PB7 USART1_RX USART1 NODMA
- define HAL_SERIAL0_BAUD_DEFAULT 57600
- # USART2 for GPS
- PA2 USART2_TX USART2 NODMA
- PA3 USART2_RX USART2 NODMA
- # SWD debugging
- PA13 JTMS-SWDIO SWD
- PA14 JTCK-SWCLK SWD
- # only one I2C bus in normal config
- PB4 I2C3_SDA I2C3
- PA8 I2C3_SCL I2C3
- define HAL_USE_I2C TRUE
- define STM32_I2C_USE_I2C3 TRUE
- define HAL_I2C_CLEAR_ON_TIMEOUT 0
- define HAL_I2C_INTERNAL_MASK 0
- # only one I2C bus
- I2C_ORDER I2C3
- # IST compass
- COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_90
- # BMP388 baro
- BARO BMP388 I2C:0:0x76
- # PWM output for buzzer
- PB10 TIM2_CH3 TIM2 GPIO(77) LOW ALARM
- # safety LED, active low
- PB1 SAFE_LED OUTPUT HIGH
- define SAFE_LED_ON 0
- # safety button
- PB3 SAFE_BUTTON INPUT PULLDOWN
- # WS2812 LED
- PB0 TIM3_CH3 TIM3 PWM(1)
- define HAL_BARO_ALLOW_INIT_NO_BARO
- define HAL_USE_ADC FALSE
- define STM32_ADC_USE_ADC1 FALSE
- define HAL_DISABLE_ADC_DRIVER TRUE
- define HAL_NO_GPIO_IRQ
- # avoid RCIN thread to save memory
- define HAL_NO_RCIN_THREAD
- define HAL_USE_RTC FALSE
- define DISABLE_SERIAL_ESC_COMM TRUE
- define NO_DATAFLASH TRUE
- define DMA_RESERVE_SIZE 0
- define PERIPH_FW TRUE
- define HAL_DISABLE_LOOP_DELAY
- # enable CAN support
- PB8 CAN1_RX CAN1
- PB9 CAN1_TX CAN1
- PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
- 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 116
- define CAN_APP_VERSION_MAJOR 1
- define CAN_APP_VERSION_MINOR 0
- define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps"
- define HAL_NO_ROMFS_SUPPORT
- define CH_DBG_ENABLE_STACK_CHECK TRUE
- define HAL_NO_GCS
- define HAL_NO_LOGGING
- define HAL_NO_MONITOR_THREAD
- define HAL_MINIMIZE_FEATURES 0
- define HAL_BUILD_AP_PERIPH
- define HAL_DEVICE_THREAD_STACK 768
- define AP_PARAM_MAX_EMBEDDED_PARAM 0
- # disable dual GPS and GPS blending to save flash space
- define GPS_MAX_RECEIVERS 1
- define GPS_MAX_INSTANCES 1
- # GPS+MAG+BARO+Buzzer+NeoPixels
- define HAL_PERIPH_ENABLE_GPS
- define HAL_PERIPH_ENABLE_MAG
- define HAL_PERIPH_ENABLE_BARO
- define HAL_PERIPH_ENABLE_BUZZER
- define HAL_PERIPH_NEOPIXEL_COUNT 8
- define HAL_PERIPH_NEOPIXEL_CHAN 0
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