mirror of https://github.com/ArduPilot/ardupilot
96 lines
2.4 KiB
Plaintext
96 lines
2.4 KiB
Plaintext
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###########################################################################################################################################################
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# mRo CAN PWM breakout
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# 12x PWM / IO 3V3 logic level
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# Connector options: 90deg 0.1", straight or no headers.
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# External power supply for servos in solder pads.
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# 1x UART port exposed in solder pads.
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# Blue LEd status indicator.
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# Uncased Weight and Dimensions:
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# Weight: g ()
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# Width: 33mm (in)
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# Length: 31.3mm (in)
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# Screw hole pattern: 19x25mm
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# M10126A - Initial release March 2023
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###########################################################################################################################################################
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MCU STM32G4xx STM32G474xx
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FLASH_RESERVE_START_KB 40
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FLASH_SIZE_KB 512
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STORAGE_FLASH_PAGE 16
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define HAL_STORAGE_SIZE 2000
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# board ID for firmware load
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APJ_BOARD_ID 1098
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OSCILLATOR_HZ 8000000
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# debug on USART1
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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
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# LEDs
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PB10 LED OUTPUT HIGH # blue
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# USART1
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PB6 USART1_TX USART1 NODMA
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PB7 USART1_RX USART1 NODMA
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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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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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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 FALSE
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#define DMA_RESERVE_SIZE 2048
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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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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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define CAN_APP_NODE_NAME "io.mrobotics.mRoCANPWM-M10126"
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# PWM - BIDIR config pending
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PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50)
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PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
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PB15 TIM15_CH2 TIM15 PWM(5) GPIO(54)
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PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
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PA9 TIM1_CH2 TIM1 PWM(7) GPIO(56)
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PA10 TIM1_CH3 TIM1 PWM(8) GPIO(57)
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PA6 TIM3_CH1 TIM3 PWM(9) GPIO(58)
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PA7 TIM3_CH2 TIM3 PWM(10) GPIO(59)
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PB0 TIM3_CH3 TIM3 PWM(11) GPIO(60)
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PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61)
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define HAL_PERIPH_ENABLE_RC_OUT
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#define HAL_PERIPH_ENABLE_NOTIFY
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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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