2021-12-06 05:24:32 -04:00
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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 STM32L496 STM32L496xx
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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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STORAGE_FLASH_PAGE 18
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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 1053
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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 12000000
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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 OTG1 USART2 USART3 UART4
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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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# PWM outputs
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PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
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PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
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PC6 TIM3_CH1 TIM3 PWM(3) GPIO(52) # LED
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2021-12-08 19:53:09 -04:00
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# USART2, ESC telem
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2021-12-06 05:24:32 -04:00
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PA2 USART2_TX USART2 SPEED_HIGH NODMA
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PA3 USART2_RX USART2 SPEED_HIGH NODMA
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# USART3
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PC4 USART3_TX USART3 SPEED_HIGH NODMA
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PC5 USART3_RX USART3 SPEED_HIGH NODMA
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# UART4
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PA0 UART4_TX UART4 SPEED_HIGH NODMA
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PA1 UART4_RX UART4 SPEED_HIGH NODMA
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# LED, active low
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PA13 LED OUTPUT HIGH GPIO(1)
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# spi2
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PB10 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# CS pins
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PC8 BMI088_A_CS CS
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PC9 BMI088_G_CS CS
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SPIDEV bmi088_g SPI2 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI2 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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# one I2C bus
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PB6 I2C4_SCL I2C4
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PB7 I2C4_SDA I2C4
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I2C_ORDER I2C4
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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 (disabled as conflicts with LED)
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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 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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PROCESS_STACK 0xA00
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define HAL_DISABLE_LOOP_DELAY
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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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# ADC inputs
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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PA4 VSENSE1 ADC1 SCALE(1)
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PA5 VSENSE2 ADC1 SCALE(1)
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PA6 VSENSE3 ADC1 SCALE(1)
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PB1 VSENSE4 ADC1 SCALE(1)
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define HAL_NO_GCS
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define HAL_NO_MONITOR_THREAD
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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define CAN_APP_NODE_NAME "org.ardupilot.CarbonixL496"
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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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2021-12-08 19:53:09 -04:00
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# enable ESC control
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define HAL_SUPPORT_RCOUT_SERIAL 1
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define HAL_WITH_ESC_TELEM 1
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2021-12-06 05:24:32 -04:00
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BARO MS56XX I2C:0:0x76
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COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE
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