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libraries/AP_HAL_ChibiOS/hwdef/CSKY-PMU/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+
+# CSKY-PMU Bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F412Rx
+
+# bootloader loads at start of flash
+FLASH_RESERVE_START_KB 0
+
+# location of application code
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# board ID for firmware load
+APJ_BOARD_ID 1212
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# Flash available
+FLASH_SIZE_KB 512
+
+# order of UARTs
+SERIAL_ORDER
+
+PB14 LED_BOOTLOADER OUTPUT HIGH
+define HAL_LED_ON 1
+
+# USART1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART1 TRUE
+define STM32_SERIAL_USE_USART2 FALSE
+define STM32_SERIAL_USE_USART3 FALSE
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+
+# avoid timer thread to save memory
+define HAL_NO_TIMER_THREAD
+
+define DMA_RESERVE_SIZE 0
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000

libraries/AP_HAL_ChibiOS/hwdef/CSKY-PMU/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32F4xx STM32F412Rx
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+
+# store parameters in pages 2 and 3
+STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 8192
+
+# board ID for firmware load
+APJ_BOARD_ID 1212
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+define DMA_RESERVE_SIZE 0
+
+define HAL_NO_MONITOR_THREAD
+
+# setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+# order of UARTs
+SERIAL_ORDER USART1 EMPTY EMPTY EMPTY
+
+# USART1 for debug
+PB6 USART1_TX USART1 NODMA
+PB7 USART1_RX USART1 NODMA
+define DEFAULT_SERIAL0_BAUD 57600
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# activity LED
+PB14 LED OUTPUT HIGH
+define HAL_LED_ON 1
+
+#CAN bus
+CAN_ORDER 1
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define CAN_APP_NODE_NAME "org.csky.pmu"
+define HAL_CAN_POOL_SIZE 6000
+
+# SPI1 RM3100
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA4 SPARE_CS CS
+SPIDEV INA23X SPI1 DEVID1 SPARE_CS MODE1 10*MHZ 10*MHZ
+
+# enable temperature 
+define AP_TEMPERATURE_SENSOR_ENABLED 1
+define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 1
+define HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
+
+# ADC
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+
+PA3 BATT_TEMP_SENS  ADC1 SCALE(1)
+
+# enable battery monitor
+define HAL_PERIPH_ENABLE_BATTERY
+define AP_BATTERY_INA239_ENABLED 1
+define AP_BATTERY_INA239_SPI_DEVICE "INA23X"
+define HAL_BATT_MONITOR_DEFAULT 26
+
+# bootloader embedding / bootloader flashing not available
+define AP_BOOTLOADER_FLASHING_ENABLED 0