mirror of https://github.com/ArduPilot/ardupilot
141 lines
2.5 KiB
Plaintext
141 lines
2.5 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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AUTOBUILD_TARGETS None
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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 1103
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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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define CH_CFG_ST_FREQUENCY 1000000
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FLASH_SIZE_KB 512
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# order of UARTs
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SERIAL_ORDER USART2
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# sensor power control
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PA4 VDD_3V3_SENSORS_EN OUTPUT HIGH
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# LEDs
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PA0 LED_RED OUTPUT LOW GPIO(0)
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PA2 LED_GREEN OUTPUT LOW GPIO(1)
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PA1 LED_BLUE OUTPUT LOW GPIO(2)
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PA3 LED_SAFETY OUTPUT LOW
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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define HAL_GPIO_LED_ON 1
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define HAL_GPIO_LED_OFF 0
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define HAL_HAVE_PIXRACER_LED
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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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# I2C2 bus
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PA8 I2C2_SDA I2C2
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PA9 I2C2_SCL I2C2
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define HAL_I2C_INTERNAL_MASK 1
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# I2C buses
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I2C_ORDER I2C2
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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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PB0 MAG_CS CS
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# GPS PPS
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PA10 GPS_PPS_IN INPUT
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# SPI devices
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SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE3 2*MHZ 8*MHZ
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# compass
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COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
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# baro
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BARO BMP388 I2C:0:0x77
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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 DISABLE_SERIAL_ESC_COMM TRUE
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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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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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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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# 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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# add support for moving baseline yaw
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define GPS_MOVING_BASELINE 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_ENABLE_NOTIFY
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define HAL_PERIPH_ENABLE_RC_OUT
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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 0
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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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