# hw definition file for processing by chibios_pins.py # hardware repository: https://github.com/FlyfocusUAV/Bird-CANdy # MCU class and specific type # note: the device is STM32F412CE, not all F412 pins are available 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 1044 # setup build for a peripheral firmware env AP_PERIPH 1 STM32_ST_USE_TIMER 5 # enable watchdog # crystal frequency OSCILLATOR_HZ 16000000 define CH_CFG_ST_FREQUENCY 1000000 FLASH_SIZE_KB 512 # order of UARTs SERIAL_ORDER EMPTY EMPTY EMPTY EMPTY EMPTY USART6 # ------ RCOUT pins ------ PA15 TIM2_CH1 TIM2 PWM(1) GPIO(50) PB3 TIM2_CH2 TIM2 PWM(2) GPIO(51) PB4 TIM3_CH1 TIM3 PWM(3) GPIO(52) PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53) # ------ alternate functions for RCOUT pins ------ # CANdy pins 10, 11 # USART1 for debug # PA15 USART1_TX USART1 # PB3 USART1_RX USART1 # define HAL_SERIAL0_BAUD_DEFAULT 57600 # ------ end RCOUT pins ------ # CANdy pins 15, 16 # USART6 for GPS PA11 USART6_TX USART6 PA12 USART6_RX USART6 # SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # CANdy pins 21, 22 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 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 PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW define CAN_APP_NODE_NAME "org.ardupilot.birdcandy" define HAL_GCS_ENABLED 0 define HAL_NO_LOGGING define HAL_NO_MONITOR_THREAD define HAL_DEVICE_THREAD_STACK 768 define AP_PARAM_MAX_EMBEDDED_PARAM 0 # 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 # RCOU+GPS+MAG+BARO+Buzzer+NeoPixels define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_BUZZER define HAL_PERIPH_NEOPIXEL_COUNT 8 define HAL_PERIPH_NEOPIXEL_CHAN 0 define AP_PERIPH_LED_BRIGHT_DEFAULT 50