# hw definition file for processing by chibios_pins.py # Sierra-F9P Firmware # 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 1034 # setup build for a peripheral firmware env AP_PERIPH 1 STM32_ST_USE_TIMER 5 # enable watchdog define HAL_WATCHDOG_ENABLED_DEFAULT true # crystal frequency OSCILLATOR_HZ 16000000 define CH_CFG_ST_FREQUENCY 1000000 # Available Flash FLASH_SIZE_KB 1024 STDOUT_SERIAL SD1 STDOUT_BAUDRATE 57600 # order of UARTs SERIAL_ORDER USART1 EMPTY EMPTY USART2 # USART1 for debug PA9 USART1_TX USART1 NODMA PA10 USART1_RX USART1 NODMA define DEFAULT_SERIAL0_BAUD 57600 # USART2 for GPS PA2 USART2_TX USART2 SPEED_HIGH PA3 USART2_RX USART2 SPEED_HIGH # SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # only one I2C bus in normal config PB7 I2C1_SDA I2C1 PB6 I2C1_SCL I2C1 define HAL_USE_I2C TRUE define STM32_I2C_USE_I2C1 TRUE define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_I2C_INTERNAL_MASK 0 # only one I2C bus I2C_ORDER I2C1 # only one SPI bus in normal config PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI CS #PC6 ICM_CS CS PC12 BARO_CS CS # SPI devices # ToDo SPI devices #SPIDEV icm20948 SPI1 DEVID1 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ # Compass COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 # Baro BARO DPS310 SPI:dps310 # PWM output for buzzer PB5 TIM3_CH2 TIM3 GPIO(77) LOW ALARM # WS2812 LEDs PA15 TIM2_CH1 TIM2 PWM(1) define HAL_USE_ADC TRUE define STM32_ADC_USE_ADC1 TRUE #define HAL_DISABLE_ADC_DRIVER TRUE PA0 VSENSE ADC1 SCALE(2) define HAL_NO_GPIO_IRQ # avoid RCIN thread to save memory define HAL_NO_RCIN_THREAD define HAL_USE_RTC TRUE define DISABLE_SERIAL_ESC_COMM TRUE define DMA_RESERVE_SIZE 0 define HAL_DISABLE_LOOP_DELAY define PERIPH_FW TRUE # enable CAN support PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F9P" define HAL_NO_MONITOR_THREAD define HAL_BUILD_AP_PERIPH 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 # GPS+MAG+BARO+Buzzer+NeoPixels define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_NOTIFY define CONFIGURE_PPS_PIN TRUE define GPS_MOVING_BASELINE 1 # Logging define HAL_LOGGING_ENABLED 1 define HAL_OS_FATFS_IO 1 # SD Card pins PC8 SDIO_D0 SDIO PC9 SDIO_D1 SDIO PC10 SDIO_D2 SDIO PC11 SDIO_D3 SDIO PB15 SDIO_CK SDIO PD2 SDIO_CMD SDIO # reserve 256 bytes for comms between app and bootloader RAM_RESERVE_START 256 # allow for reboot command for faster development define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 #Sensors Enable & ESP Enable PB0 VDD_3V3_SENSORS_EN OUTPUT HIGH PC2 ESP_PWR_EN OUTPUT LOW