mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.2 KiB
Plaintext
61 lines
1.2 KiB
Plaintext
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# HW definition file for Sierra-TrueNav Pro
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# MCU class and specific type
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MCU STM32L431 STM32L431xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID 1091
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# Flash info
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FLASH_RESERVE_START_KB 0
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FLASH_BOOTLOADER_LOAD_KB 36
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FLASH_SIZE_KB 256
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# reserve some space for params
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APP_START_OFFSET_KB 4
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# a fault LED
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PA1 LED_BOOTLOADER OUTPUT LOW # amber
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define HAL_LED_ON 1
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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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PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
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CAN_ORDER 1
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# make bl baudrate match debug baudrate for easier debugging
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define BOOTLOADER_BAUDRATE 57600
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# use a small bootloader timeout
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define HAL_BOOTLOADER_TIMEOUT 1000
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define HAL_USE_SERIAL FALSE
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define HAL_NO_GPIO_IRQ
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define HAL_USE_EMPTY_IO TRUE
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define PORT_INT_REQUIRED_STACK 64
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define DMA_RESERVE_SIZE 0
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MAIN_STACK 0x800
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PROCESS_STACK 0x800
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define HAL_DISABLE_LOOP_DELAY
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# Add CS pins to ensure they are high in bootloader
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PB12 RM3100_CS CS
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PA8 BARO_CS CS
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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro"
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