2023-10-03 15:21:59 -03:00
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# MCU class and specific type
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MCU STM32F4xx STM32F407xx
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 512
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 2
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# board ID for firmware load
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APJ_BOARD_ID 6000
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env AP_PERIPH 1
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define CAN_APP_NODE_NAME "sw-spar-f407"
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# we need tim2 for PWM
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STM32_ST_USE_TIMER 5
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# activity led
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PC8 LED OUTPUT LOW
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define HAL_LED_ON 1
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# JTAG
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#PA13 JTMS-SWDIO SWD
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#PA14 JTCK-SWCLK SWD
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# ECU - not currently used, must be enabled for CAN2 to work
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PD2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW HIGH
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# avionics can
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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PB7 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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# we don't actually need/use CAN mirroring, but it *can* make a very handy debug port
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# define HAL_PERIPH_CAN_MIRROR 1
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# ---------------------- UARTs ---------------------------
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# | efi | gps | lidar |
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SERIAL_ORDER USART1 USART2 USART3
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# USART1 efi
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PA9 USART1_TX USART1 SPEED_HIGH DMA
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PA10 USART1_RX USART1 SPEED_HIGH DMA
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# USART2 gps
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PD5 USART2_TX USART2 SPEED_HIGH DMA
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PD6 USART2_RX USART2 SPEED_HIGH DMA
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# USART3 lidar
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PB10 USART3_TX USART3 SPEED_HIGH DMA
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PB11 USART3_RX USART3 SPEED_HIGH DMA
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# throttle pwm
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define HAL_PERIPH_ENABLE_RC_OUT
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PA15 TIM2_CH1 TIM2 PWM(1)
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# i2c
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I2C_ORDER I2C3 I2C1
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define STM32_I2C_USE_I2C1 TRUE
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define STM32_I2C_USE_I2C3 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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# gps/aux port
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# internal mag
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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# EFI
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define AP_PERIPH_EFI_PORT_DEFAULT 0
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define HAL_PERIPH_ENABLE_EFI 1
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define HAL_EFI_ENABLED 1
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define HAL_PERIPH_EFI_BAUDRATE_DEFAULT 115200
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# GPS
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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define GPS_MAX_RATE_MS 200
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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# rangefinder
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define HAL_PERIPH_ENABLE_RANGEFINDER 2
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define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2
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# compass
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define HAL_PERIPH_ENABLE_MAG
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define HAL_COMPASS_MAX_SENSORS 2
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COMPASS MMC3416 I2C:0:0x30 false ROTATION_NONE
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# expected aux compass, unclear if these need to be listed
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COMPASS RM3100 I2C:1:0x20 false ROTATION_NONE
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COMPASS RM3100 I2C:1:0x21 false ROTATION_NONE
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COMPASS RM3100 I2C:1:0x22 false ROTATION_NONE
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COMPASS RM3100 I2C:1:0x23 false ROTATION_NONE
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# battery
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define HAL_PERIPH_ENABLE_BATTERY
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define HAL_PERIPH_BATTERY_SKIP_NAME # don't waste bandwidth on static names
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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# fuel tank
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PB0 BATT3_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(1)
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# 12V in
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PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(2)
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# 5V in
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PA5 BATT2_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(3)
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# don't build on firmware.ardupilot.org
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AUTOBUILD_TARGETS None
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2024-03-31 21:00:58 -03:00
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define HAL_SERIAL_ESC_COMM_ENABLED 1
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2024-04-01 03:38:32 -03:00
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define HAL_RCIN_THREAD_ENABLED 1
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2024-04-01 19:47:40 -03:00
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define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
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