mirror of https://github.com/ArduPilot/ardupilot
158 lines
3.4 KiB
Plaintext
158 lines
3.4 KiB
Plaintext
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# hw definition file for processing by chibios_pins.py
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# Sierra-F9P Firmware
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# MCU class and specific type
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MCU STM32F4xx STM32F412Rx
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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 1034
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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#env AP_PERIPH_HEAVY 1
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STM32_ST_USE_TIMER 5
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# enable watchdog
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define HAL_WATCHDOG_ENABLED_DEFAULT true
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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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# Available Flash
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FLASH_SIZE_KB 1024
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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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# USART1 for debug
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PA9 USART1_TX USART1 NODMA
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PA10 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 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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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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# only one I2C bus in normal config
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PB7 I2C1_SDA I2C1
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PB6 I2C1_SCL I2C1
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 0
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# only one I2C bus
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I2C_ORDER I2C1
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# only one SPI bus in normal config
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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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#PC6 ICM_CS CS
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PC12 BARO_CS CS
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# SPI devices
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# ToDo SPI devices
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#SPIDEV icm20948 SPI1 DEVID1 MPU_CS MODE3 4*MHZ 8*MHZ
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SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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# Compass
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
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# Baro
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BARO DPS310 SPI:dps310
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# PWM output for buzzer
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PB5 TIM3_CH2 TIM3 GPIO(77) LOW ALARM
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# WS2812 LEDs
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PA15 TIM2_CH1 TIM2 PWM(1)
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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#define HAL_DISABLE_ADC_DRIVER TRUE
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PA0 VSENSE ADC1 SCALE(2)
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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 TRUE
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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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define PERIPH_FW TRUE
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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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PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F9P"
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define HAL_NO_MONITOR_THREAD
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define HAL_BUILD_AP_PERIPH
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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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# GPS+MAG+BARO+Buzzer+NeoPixels
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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_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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define CONFIGURE_PPS_PIN TRUE
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define GPS_MOVING_BASELINE 1
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# Logging
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define HAL_LOGGING_ENABLED 1
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# SD Card pins
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PC8 SDIO_D0 SDIO
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PC9 SDIO_D1 SDIO
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PC10 SDIO_D2 SDIO
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PC11 SDIO_D3 SDIO
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PB15 SDIO_CK SDIO
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PD2 SDIO_CMD SDIO
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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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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#Sensors Enable & ESP Enable
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PB0 VDD_3V3_SENSORS_EN OUTPUT HIGH
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PC2 ESP_PWR_EN OUTPUT LOW
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