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