2021-03-10 00:52:23 -04:00
|
|
|
# hw definition file for processing by chibios_pins.py
|
|
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32G474 STM32G474xx
|
|
|
|
|
|
|
|
|
|
# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
|
|
|
|
|
FLASH_RESERVE_START_KB 30
|
|
|
|
|
|
|
|
|
|
# store parameters in pages 13 and 14
|
2021-10-27 02:32:43 -03:00
|
|
|
STORAGE_FLASH_PAGE 13
|
2021-03-10 00:52:23 -04:00
|
|
|
define HAL_STORAGE_SIZE 800
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 1027
|
|
|
|
|
|
|
|
|
|
# setup build for a peripheral firmware
|
|
|
|
|
env AP_PERIPH 1
|
|
|
|
|
|
|
|
|
|
# enable watchdog
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
|
|
|
|
|
|
# use TIM5 to leave TIM2 for LED
|
|
|
|
|
STM32_ST_USE_TIMER 5
|
|
|
|
|
|
|
|
|
|
# assume the 512k flash part
|
|
|
|
|
FLASH_SIZE_KB 512
|
|
|
|
|
|
|
|
|
|
# order of UARTs
|
|
|
|
|
SERIAL_ORDER USART1
|
|
|
|
|
|
|
|
|
|
define HAL_CAN_POOL_SIZE 6000
|
|
|
|
|
|
|
|
|
|
STDOUT_SERIAL SD1
|
|
|
|
|
STDOUT_BAUDRATE 57600
|
|
|
|
|
|
|
|
|
|
# USART1, telemetry
|
|
|
|
|
PA9 USART1_TX USART1 SPEED_HIGH
|
|
|
|
|
PA10 USART1_RX USART1 SPEED_HIGH
|
|
|
|
|
|
|
|
|
|
# LEDs
|
|
|
|
|
PB10 LED OUTPUT LOW
|
|
|
|
|
#PB9 LED_R OUTPUT LOW
|
|
|
|
|
PB7 LED_G OUTPUT LOW
|
|
|
|
|
PA12 LED_B OUTPUT LOW
|
|
|
|
|
|
|
|
|
|
# a fault LED
|
|
|
|
|
PA1 LED_FAULT OUTPUT LOW
|
|
|
|
|
|
|
|
|
|
# allow for reboot command for faster development
|
|
|
|
|
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
|
|
|
|
|
|
|
|
|
|
# debugger support
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# spi bus for IMU
|
|
|
|
|
PB13 SPI2_SCK SPI2
|
|
|
|
|
PB14 SPI2_MISO SPI2
|
|
|
|
|
PB15 SPI2_MOSI SPI2
|
|
|
|
|
|
|
|
|
|
PB12 IMU_CS CS
|
|
|
|
|
|
|
|
|
|
# accel interrupts
|
|
|
|
|
PB1 ACCEL_INT1 INPUT GPIO(70)
|
|
|
|
|
PB2 ACCEL_INT2 INPUT GPIO(71)
|
|
|
|
|
|
|
|
|
|
SPIDEV adxl327 SPI2 DEVID2 IMU_CS MODE3 2*MHZ 8*MHZ
|
|
|
|
|
|
|
|
|
|
# sensing motor position
|
|
|
|
|
PC11 HALL_A INPUT GPIO(90)
|
|
|
|
|
PC10 HALL_B INPUT GPIO(91)
|
|
|
|
|
PA2 HALL_C INPUT GPIO(92)
|
|
|
|
|
|
|
|
|
|
define HAL_USE_ADC TRUE
|
|
|
|
|
define STM32_ADC_USE_ADC1 TRUE
|
|
|
|
|
# define STM32_ADC_USE_ADC2 TRUE
|
|
|
|
|
|
|
|
|
|
#PA4 VSENSE50 ADC2 SCALE(18.39416)
|
|
|
|
|
#PA5 VSENSE3v3 ADC2 SCALE(1)
|
|
|
|
|
|
|
|
|
|
PB11 BAT_CURR_SENS ADC1 SCALE(1)
|
|
|
|
|
|
|
|
|
|
# ESC interrupt
|
|
|
|
|
PC6 ESC_INT INPUT
|
|
|
|
|
|
|
|
|
|
define HAL_NO_GPIO_IRQ
|
|
|
|
|
define SERIAL_BUFFERS_SIZE 512
|
|
|
|
|
|
|
|
|
|
define DMA_RESERVE_SIZE 2048
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# stack for fast interrupts
|
|
|
|
|
define PORT_INT_REQUIRED_STACK 64
|
|
|
|
|
|
|
|
|
|
# MAIN_STACK is stack for ISR handlers
|
|
|
|
|
MAIN_STACK 0x300
|
|
|
|
|
|
|
|
|
|
# PROCESS_STACK controls stack for main thread
|
2021-10-19 16:43:16 -03:00
|
|
|
PROCESS_STACK 0xA00
|
2021-03-10 00:52:23 -04:00
|
|
|
|
|
|
|
|
define HAL_DISABLE_LOOP_DELAY
|
|
|
|
|
|
|
|
|
|
# enable CAN support
|
|
|
|
|
PB5 CAN2_RX CAN2
|
|
|
|
|
PB6 CAN2_TX CAN2
|
|
|
|
|
PB0 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
|
PA7 GPIO_CAN2_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
|
|
|
|
|
|
# 2nd CAN interface
|
|
|
|
|
PB3 CAN3_RX CAN3
|
|
|
|
|
PB4 CAN3_TX CAN3
|
|
|
|
|
PC4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
|
PA6 GPIO_CAN3_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
|
|
|
|
|
|
PB8 CAN1_RX CAN1
|
|
|
|
|
PB9 CAN1_TX CAN1
|
|
|
|
|
|
|
|
|
|
CAN_ORDER 2 3
|
|
|
|
|
|
|
|
|
|
# DShot output
|
|
|
|
|
PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)
|
|
|
|
|
|
|
|
|
|
# LED on timer
|
|
|
|
|
PA15 TIM2_CH1 TIM2 PWM(2) GPIO(51)
|
|
|
|
|
|
|
|
|
|
define HAL_PERIPH_ENABLE_RC_OUT
|
|
|
|
|
|
|
|
|
|
define HAL_UART_MIN_TX_SIZE 256
|
|
|
|
|
define HAL_UART_MIN_RX_SIZE 128
|
|
|
|
|
|
|
|
|
|
define HAL_UART_STACK_SIZE 0x200
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
define HAL_NO_MONITOR_THREAD
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
define HAL_DEVICE_THREAD_STACK 0x200
|
|
|
|
|
define STORAGE_THD_WA_SIZE 512
|
|
|
|
|
define IO_THD_WA_SIZE 512
|
|
|
|
|
|
|
|
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 512
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# keep ROMFS uncompressed as we don't have enough RAM
|
|
|
|
|
# to uncompress the bootloader at runtime
|
|
|
|
|
env ROMFS_UNCOMPRESSED True
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
define CAN_APP_NODE_NAME "org.ardupilot.G4-ESC"
|
|
|
|
|
|
|
|
|
|
# don't share any DMA channels (there are enough for everyone)
|
|
|
|
|
DMA_NOSHARE *
|
