2022-11-23 00:53:36 -04:00
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# 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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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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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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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 1085
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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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# crystal frequency
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OSCILLATOR_HZ 16000000
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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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# order of UARTs
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SERIAL_ORDER USART1 EMPTY EMPTY USART2
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# a LED to flash
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PB0 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
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PA3 USART2_RX USART2
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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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2022-12-19 22:50:16 -04:00
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# one I2C bus
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PA8 I2C3_SCL I2C3
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PB4 I2C3_SDA I2C3
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I2C_ORDER I2C3
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# compass
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COMPASS RM3100 I2C:0:0x20 false ROTATION_YAW_270
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2022-11-23 00:53:36 -04:00
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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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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 DMA_RESERVE_SIZE 0
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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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2022-12-19 22:50:16 -04:00
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# sensor power enable
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PA12 VDD_SENSOR_EN OUTPUT HIGH
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2022-11-23 00:53:36 -04:00
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# RTK reset
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PA4 RTK_RESET_N OUTPUT HIGH
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# PPS
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PA7 PPS INPUT PULLUP
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define CAN_APP_NODE_NAME "org.ardupilot.C-RTK2-HP"
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define HAL_NO_MONITOR_THREAD
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define HAL_DEVICE_THREAD_STACK 768
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 256
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_PERIPH_ENABLE_GPS
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define GPS_MOVING_BASELINE 1
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2022-12-19 22:50:16 -04:00
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define HAL_PERIPH_ENABLE_MAG
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define HAL_COMPASS_MAX_SENSORS 1
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2022-11-23 00:53:36 -04:00
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define AP_GPS_BACKEND_DEFAULT_ENABLED 0
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define AP_GPS_NMEA_ENABLED 1
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define AP_GPS_NMEA_UNICORE_ENABLED 1
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2023-03-24 04:23:27 -03:00
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define HAL_GPS_TYPE_DEFAULT 25
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2022-11-23 00:53:36 -04:00
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# custom config once sensor is found
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define AP_GPS_NMEA_CUSTOM_CONFIG_STRING "CONFIG COM1 230400 8 N 1"
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# custom config for GPS probe
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define NMEA_UNICORE_SETUP "CONFIG COM1 230400 8 n 1\r\nGPGGA 0.2\r\n"
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