# 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 STORAGE_FLASH_PAGE 11 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 # avoid timer and RCIN threads to save memory define HAL_NO_RCIN_THREAD define HAL_USE_RTC FALSE define DISABLE_SERIAL_ESC_COMM TRUE 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 PROCESS_STACK 0xA00 define HAL_DISABLE_LOOP_DELAY # 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 define AP_PARAM_MAX_EMBEDDED_PARAM 512 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 define HAL_GPS_TYPE_DEFAULT 10 define HAL_GPS_COM_PORT_DEFAULT 3 define GPS_SBF_STREAM_NUMBER 3 define GPS_SBF_EXTRA_CONFIG "sdfa, DSK1, DeleteOldest", "sfn, DSK1, Incremental, Mosaic", "sfno, off"