ardupilot/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef-bl.dat

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2021-03-10 00:52:23 -04:00
# hw definition file for processing by chibios_pins.py
# MCU class and specific type
MCU STM32G474 STM32G474xx
FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 26
# reserve some space for params
APP_START_OFFSET_KB 4
# board ID for firmware load
APJ_BOARD_ID 1027
# setup build for a peripheral firmware
env AP_PERIPH 1
# crystal frequency, no crystal for now
OSCILLATOR_HZ 24000000
# assume 256k flash part
FLASH_SIZE_KB 256
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600
# order of UARTs
SERIAL_ORDER USART1
# a fault LED
PA1 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 1
# USART1
PA9 USART1_TX USART1 SPEED_HIGH NODMA
PA10 USART1_RX USART1 SPEED_HIGH NODMA
define HAL_USE_SERIAL TRUE
define STM32_SERIAL_USE_USART1 TRUE
define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 32
define HAL_USE_EMPTY_IO TRUE
define PORT_INT_REQUIRED_STACK 64
define HAL_USE_RTC FALSE
define DISABLE_SERIAL_ESC_COMM TRUE
define NO_DATAFLASH TRUE
define DMA_RESERVE_SIZE 0
define PERIPH_FW TRUE
MAIN_STACK 0x800
PROCESS_STACK 0x800
define HAL_DISABLE_LOOP_DELAY
define HAL_USE_EMPTY_STORAGE 1
define HAL_STORAGE_SIZE 16384
# enable CAN support
PB5 CAN2_RX CAN2
PB6 CAN2_TX CAN2
PB0 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PA7 GPIO_CAN2_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW
# 2nd CAN interface
PB3 CAN3_RX CAN3
PB4 CAN3_TX CAN3
PC4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
PA6 GPIO_CAN3_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
CAN_ORDER 2 1
# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600
# define BOOTLOADER_DEBUG SD1
# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256
# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0
define CAN_APP_NODE_NAME "org.ardupilot.G4-ESC"
# Add CS pins to ensure they are high in bootloader
PB12 IMU_CS CS