# hw definition file for processing by chibios_pins.py # MCU class and specific type # MCU class and specific type MCU STM32G4xx STM32G474xx FLASH_RESERVE_START_KB 36 STORAGE_FLASH_PAGE 16 define HAL_STORAGE_SIZE 800 # board ID for firmware load APJ_BOARD_ID 1053 # setup build for a peripheral firmware env AP_PERIPH 1 # crystal frequency OSCILLATOR_HZ 16000000 define CH_CFG_ST_FREQUENCY 1000000 # assume 512k flash part FLASH_SIZE_KB 512 # ensure NRST_MODE is set to "Reset input only". This fixes # an issue with resetting the CAN node and firmware update define HAL_FLASH_SET_NRST_MODE 0x01 # debug on USART2 STDOUT_SERIAL SD2 STDOUT_BAUDRATE 57600 # order of UARTs SERIAL_ORDER USART2 USART3 # sensor power control PC11 VDD_3V3_SENSORS_EN OUTPUT HIGH # LEDs PC10 LED OUTPUT HIGH GPIO(2) # blue PB15 LED_R OUTPUT HIGH GPIO(0) PC6 LED_G OUTPUT HIGH GPIO(1) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_LED_ON 0 define HAL_GPIO_LED_OFF 1 define HAL_HAVE_PIXRACER_LED # USART3, GPS PB10 USART3_TX USART3 PB11 USART3_RX USART3 # USART2, debug PA2 USART2_TX USART2 NODMA PA3 USART2_RX USART2 NODMA # SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # I2C1 bus PB7 I2C1_SDA I2C1 PB8 I2C1_SCL I2C1 # I2C2 bus PA8 I2C2_SDA I2C2 PA9 I2C2_SCL I2C2 define HAL_I2C_INTERNAL_MASK 3 # I2C buses I2C_ORDER I2C1 I2C2 # one SPI bus PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI CS PC4 GYR_CS CS PB1 ACC_CS CS PC14 ICM_CS CS # GPS PPS PA15 GPS_PPS_IN INPUT # SPI devices SPIDEV bmi088_a SPI1 DEVID1 ACC_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_g SPI1 DEVID2 GYR_CS MODE3 10*MHZ 10*MHZ # compass COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_90 # baro BARO BMP388 I2C:0:0x77 # IMU IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90 define HAL_BARO_ALLOW_INIT_NO_BARO define HAL_USE_ADC FALSE define STM32_ADC_USE_ADC1 FALSE define HAL_DISABLE_ADC_DRIVER TRUE define HAL_NO_GPIO_IRQ # avoid RCIN thread to save memory define HAL_NO_RCIN_THREAD define HAL_USE_RTC FALSE define DISABLE_SERIAL_ESC_COMM TRUE define DMA_RESERVE_SIZE 0 define HAL_DISABLE_LOOP_DELAY # enable CAN support PA11 CAN1_RX CAN1 PA12 CAN1_TX CAN1 PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW #PB12 CAN2_RX CAN2 #PB13 CAN2_TX CAN2 #PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW define CAN_APP_NODE_NAME "org.ardupilot.HolybroG4_GPS" define HAL_NO_LOGGING define HAL_NO_MONITOR_THREAD define HAL_DEVICE_THREAD_STACK 768 # we setup a small defaults.parm define AP_PARAM_MAX_EMBEDDED_PARAM 256 # 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 DMA_NOSHARE USART3* # add support for moving baseline yaw define GPS_MOVING_BASELINE 1 # GPS+MAG+BARO+LEDs define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_NOTIFY define HAL_PERIPH_ENABLE_RC_OUT # single baro define BARO_MAX_INSTANCES 1 # GPS on 2nd port define HAL_PERIPH_GPS_PORT_DEFAULT 1 # keep ROMFS uncompressed as we don't have enough RAM # to uncompress the bootloader at runtime env ROMFS_UNCOMPRESSED True