mirror of https://github.com/ArduPilot/ardupilot
112 lines
2.2 KiB
Plaintext
112 lines
2.2 KiB
Plaintext
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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 STM32G4xx STM32G491xx
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FLASH_RESERVE_START_KB 36
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STORAGE_FLASH_PAGE 16
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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 5301
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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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# ChibiOS system timer
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STM32_ST_USE_TIMER 15
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define CH_CFG_ST_RESOLUTION 16
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define CH_CFG_ST_FREQUENCY 1000000
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FLASH_SIZE_KB 256
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# order of UARTs
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SERIAL_ORDER EMPTY USART2
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# USART2, GPS
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PB3 USART2_TX USART2
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PB4 USART2_RX USART2
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# USART1, debug, disabled to save flash
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# PB6 USART1_TX USART1
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# PB7 USART1_RX USART1
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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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# one SPI bus
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI CS
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PA9 RM3100_CS CS
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PA10 DPS310_CS CS
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# GPS PPS
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PA15 GPS_PPS_IN INPUT
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# Baro probe
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SPIDEV dps310 SPI1 DEVID3 DPS310_CS MODE3 5*MHZ 5*MHZ
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BARO DPS310 SPI:dps310
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# Mag probe
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SPIDEV rm3100 SPI1 DEVID1 RM3100_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
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define AP_RM3100_REVERSAL_MASK 7
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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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define HAL_NO_MONITOR_THREAD
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define HAL_DEVICE_THREAD_STACK 768
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# enable CAN support
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PA2 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG+BARO+LEDs
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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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define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
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define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
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define DEFAULT_NTF_LED_TYPES 455
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# single baro
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define BARO_MAX_INSTANCES 1
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# GPS on 1st port
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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# PWM, WS2812 LED
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PA3 TIM2_CH4 TIM2 PWM(1)
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DMA_NOSHARE USART2*
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