2021-10-11 04:32:57 -03:00
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g# hw definition file for processing by chibios_pins.py
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# MCU class and specific type
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MCU STM32L431 STM32L431xx
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# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 40
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# store parameters in pages 18 and 19
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define STORAGE_FLASH_PAGE 18
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define HAL_STORAGE_SIZE 800
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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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# board ID for firmware load
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APJ_BOARD_ID 1050
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# enable watchdog
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# assume the 256k flash part
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FLASH_SIZE_KB 256
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# order of UARTs
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SERIAL_ORDER USART1 USART2
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define HAL_CAN_POOL_SIZE 6000
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#STDOUT_SERIAL SD1
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#STDOUT_BAUDRATE 57600
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# USART1 Debug
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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# USART2 M9N
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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# LEDs
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PB0 LED OUTPUT LOW GPIO(1)
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# a fault LED
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# PB14 LED_FAULT OUTPUT LOW # red
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# SPI1 bus for Baro
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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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PA8 BARO_CS CS
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SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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BARO DPS280 SPI:dps310
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#SPIDEV Invensensev2 SPI2 DEVID2 IMU_CS MODE3 2*MHZ 8*MHZ
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# QMC5883L
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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I2C_ORDER I2C1
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# compass
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
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# allow for reboot command for faster development
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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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 HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 2048
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# stack for fast interrupts
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define PORT_INT_REQUIRED_STACK 64
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# MAIN_STACK is stack for ISR handlers
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MAIN_STACK 0x300
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# PROCESS_STACK controls stack for main thread
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2021-10-19 16:43:16 -03:00
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PROCESS_STACK 0xA00
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2021-10-11 04:32:57 -03:00
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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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PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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CAN_ORDER 1
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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PA4 VSENSE ADC1 SCALE(2)
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define HAL_GCS_ENABLED 0
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define HAL_NO_MONITOR_THREAD
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define HAL_NO_LOGGING
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define HAL_MINIMIZE_FEATURES 0
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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define CAN_APP_NODE_NAME "org.ardupilot.Sierra-L431"
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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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_AIRSPEED
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#BARO MS56XX SPI:ms5611
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#BARO BMP388 I2C:0:0x76
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# define HAL_SPI_CHECK_CLOCK_FREQ
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# WS2812 LED
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PA15 TIM2_CH1 TIM2 PWM(1)
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PB11 TIM2_CH4 TIM2 PWM(2)
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