2020-05-20 18:59:29 -03:00
|
|
|
# hw definition file for processing by chibios_pins.py
|
|
|
|
|
|
|
|
|
|
# MCU class and specific type
|
|
|
|
|
MCU STM32F303 STM32F303xC
|
|
|
|
|
|
|
|
|
|
# bootloader starts firmware at 26k
|
|
|
|
|
FLASH_RESERVE_START_KB 26
|
|
|
|
|
|
|
|
|
|
# store parameters in pages 11 and 12
|
2021-10-27 02:32:43 -03:00
|
|
|
STORAGE_FLASH_PAGE 11
|
2020-05-20 18:59:29 -03:00
|
|
|
define HAL_STORAGE_SIZE 800
|
|
|
|
|
|
|
|
|
|
# board ID for firmware load
|
|
|
|
|
APJ_BOARD_ID 1016
|
|
|
|
|
|
|
|
|
|
# setup build for a peripheral firmware
|
|
|
|
|
env AP_PERIPH 1
|
|
|
|
|
|
|
|
|
|
# enable watchdog
|
|
|
|
|
|
|
|
|
|
# crystal frequency
|
|
|
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
|
|
|
|
|
|
define CH_CFG_ST_FREQUENCY 100000
|
|
|
|
|
define CH_CFG_ST_TIMEDELTA 0
|
|
|
|
|
|
|
|
|
|
# assume the 256k flash part for now
|
|
|
|
|
FLASH_SIZE_KB 256
|
|
|
|
|
|
|
|
|
|
# order of UARTs
|
|
|
|
|
SERIAL_ORDER USART2 EMPTY EMPTY USART3
|
|
|
|
|
|
|
|
|
|
define HAL_CAN_POOL_SIZE 6000
|
|
|
|
|
|
|
|
|
|
STDOUT_SERIAL SD2
|
|
|
|
|
STDOUT_BAUDRATE 57600
|
|
|
|
|
|
|
|
|
|
# USART2, debug
|
|
|
|
|
PA2 USART2_TX USART2 SPEED_HIGH NODMA
|
|
|
|
|
PA3 USART2_RX USART2 SPEED_HIGH NODMA
|
|
|
|
|
|
|
|
|
|
# USART3 for GPS
|
|
|
|
|
PB10 USART3_TX USART3 SPEED_HIGH NODMA
|
|
|
|
|
PB11 USART3_RX USART3 SPEED_HIGH NODMA
|
|
|
|
|
|
|
|
|
|
# only one I2C bus in normal config, no external pullup
|
|
|
|
|
PA15 I2C1_SCL I2C1 PULLUP
|
|
|
|
|
PB7 I2C1_SDA I2C1 PULLUP
|
|
|
|
|
|
|
|
|
|
# debugger support
|
|
|
|
|
PA13 JTMS-SWDIO SWD
|
|
|
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
|
|
|
|
|
|
# spi bus, unused
|
|
|
|
|
PB3 SPI1_SCK SPI1
|
|
|
|
|
PB4 SPI1_MISO SPI1
|
|
|
|
|
PB5 SPI1_MOSI SPI1
|
|
|
|
|
|
|
|
|
|
# single rm3100 mag on I2C
|
|
|
|
|
COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE
|
|
|
|
|
COMPASS RM3100 I2C:0:0x21 false ROTATION_NONE
|
|
|
|
|
COMPASS RM3100 I2C:0:0x22 false ROTATION_NONE
|
|
|
|
|
COMPASS RM3100 I2C:0:0x23 false ROTATION_NONE
|
|
|
|
|
|
|
|
|
|
# single MS5611 baro on I2C
|
|
|
|
|
BARO MS56XX I2C:0:0x77
|
|
|
|
|
|
|
|
|
|
# analog input
|
|
|
|
|
# PA5 VIN5 ADC1
|
|
|
|
|
define HAL_USE_ADC FALSE
|
|
|
|
|
define STM32_ADC_USE_ADC1 FALSE
|
|
|
|
|
define HAL_DISABLE_ADC_DRIVER TRUE
|
|
|
|
|
|
|
|
|
|
define HAL_NO_GPIO_IRQ
|
|
|
|
|
define SERIAL_BUFFERS_SIZE 512
|
|
|
|
|
|
|
|
|
|
define HAL_USE_RTC FALSE
|
|
|
|
|
|
|
|
|
|
define DMA_RESERVE_SIZE 0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# stack for fast interrupts
|
|
|
|
|
define PORT_INT_REQUIRED_STACK 64
|
|
|
|
|
|
|
|
|
|
# MAIN_STACK is stack for ISR handlers
|
|
|
|
|
MAIN_STACK 0x300
|
|
|
|
|
|
|
|
|
|
# PROCESS_STACK controls stack for main thread
|
2021-10-19 16:43:16 -03:00
|
|
|
PROCESS_STACK 0xA00
|
2020-05-20 18:59:29 -03:00
|
|
|
|
|
|
|
|
# enable CAN support
|
|
|
|
|
PB8 CAN_RX CAN
|
|
|
|
|
PB9 CAN_TX CAN
|
|
|
|
|
PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW
|
|
|
|
|
|
|
|
|
|
define HAL_USE_I2C TRUE
|
|
|
|
|
define STM32_I2C_USE_I2C1 TRUE
|
|
|
|
|
|
|
|
|
|
define HAL_UART_MIN_TX_SIZE 256
|
|
|
|
|
define HAL_UART_MIN_RX_SIZE 128
|
|
|
|
|
|
|
|
|
|
define HAL_UART_STACK_SIZE 0x200
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
define HAL_NO_MONITOR_THREAD
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# only one I2C bus
|
|
|
|
|
I2C_ORDER I2C1
|
|
|
|
|
|
|
|
|
|
define HAL_I2C_CLEAR_ON_TIMEOUT 0
|
|
|
|
|
|
|
|
|
|
define HAL_DEVICE_THREAD_STACK 0x200
|
|
|
|
|
define STORAGE_THD_WA_SIZE 512
|
|
|
|
|
define IO_THD_WA_SIZE 512
|
|
|
|
|
|
2021-01-19 18:24:21 -04:00
|
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 512
|
2020-05-20 18:59:29 -03:00
|
|
|
|
|
|
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
|
|
|
|
|
|
# disable dual GPS and GPS blending to save flash space
|
|
|
|
|
define GPS_MAX_RECEIVERS 1
|
|
|
|
|
define GPS_MAX_INSTANCES 1
|
|
|
|
|
define HAL_COMPASS_MAX_SENSORS 1
|
|
|
|
|
|
|
|
|
|
# reset for GPS
|
|
|
|
|
PB6 nGNSS_RESET OUTPUT HIGH GPIO(73)
|
|
|
|
|
|
|
|
|
|
# use LOG_BTN to start Mosaic logging
|
|
|
|
|
PA5 LOG_BTN INPUT FLOATING GPIO(74)
|
|
|
|
|
|
|
|
|
|
# a LED to flash for CAN activity
|
|
|
|
|
PA6 LED OUTPUT LOW
|
|
|
|
|
|
|
|
|
|
# I2C activity LED
|
|
|
|
|
PA7 LED_BUS_I2C OUTPUT LOW
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# keep ROMFS uncompressed as we don't have enough RAM
|
|
|
|
|
# to uncompress the bootloader at runtime
|
|
|
|
|
env ROMFS_UNCOMPRESSED True
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
define HAL_PERIPH_ENABLE_GPS
|
|
|
|
|
define HAL_PERIPH_ENABLE_MAG
|
|
|
|
|
define HAL_PERIPH_ENABLE_BARO
|
|
|
|
|
|
|
|
|
|
# septentrio on com 3
|
2024-03-15 01:54:39 -03:00
|
|
|
define HAL_GPS1_TYPE_DEFAULT 10
|
2020-05-20 18:59:29 -03:00
|
|
|
define HAL_GPS_COM_PORT_DEFAULT 3
|
|
|
|
|
define GPS_SBF_STREAM_NUMBER 3
|
2021-02-11 19:15:12 -04:00
|
|
|
define GPS_SBF_EXTRA_CONFIG "sdfa, DSK1, DeleteOldest", "sfn, DSK1, Incremental, Mosaic", "sfno, off"
|
2020-05-20 18:59:29 -03:00
|
|
|
|
