# hw definition file for f303 Matek CAN GPS # 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 define STORAGE_FLASH_PAGE 11 define HAL_STORAGE_SIZE 800 # board ID for firmware load APJ_BOARD_ID 1004 # setup build for a peripheral firmware env AP_PERIPH 1 # enable watchdog define HAL_WATCHDOG_ENABLED_DEFAULT true # crystal frequency OSCILLATOR_HZ 8000000 define CH_CFG_ST_FREQUENCY 1000 define CH_CFG_ST_TIMEDELTA 0 # assume the 256k flash part for now FLASH_SIZE_KB 256 # a LED to flash PA4 LED OUTPUT LOW define HAL_CAN_POOL_SIZE 6000 # only one I2C bus in normal config PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 # no ADC driver 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 define PORT_INT_REQUIRED_STACK 64 # 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 NO_DATAFLASH TRUE define DMA_RESERVE_SIZE 0 define PERIPH_FW TRUE # MAIN_STACK is stack of initial thread MAIN_STACK 0x300 # PROCESS_STACK controls stack for main thread PROCESS_STACK 0x800 define HAL_DISABLE_LOOP_DELAY # enable CAN support PA11 CAN_RX CAN PA12 CAN_TX CAN define HAL_CAN_RX_QUEUE_SIZE 32 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 512 define STORAGE_THD_WA_SIZE 512 define IO_THD_WA_SIZE 512 define HAL_NO_GCS define HAL_MINIMIZE_FEATURES 0 define HAL_BUILD_AP_PERIPH # only one I2C bus I2C_ORDER I2C1 define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_DEVICE_THREAD_STACK 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 # use the app descriptor needed by MissionPlanner for CAN upload env APP_DESCRIPTOR MissionPlanner # reserve 256 bytes for comms between app and bootloader RAM_RESERVE_START 256 # keep ROMFS uncompressed as we don't have enough RAM # to uncompress the bootloader at runtime env ROMFS_UNCOMPRESSED True # order of UARTs SERIAL_ORDER USART1 EMPTY USART3 USART2 # USART1, for debug PA9 USART1_TX USART1 SPEED_HIGH NODMA PA10 USART1_RX USART1 SPEED_HIGH NODMA # USART2, connected to GPS PA2 USART2_TX USART2 SPEED_HIGH NODMA PA3 USART2_RX USART2 SPEED_HIGH NODMA # USART3, for MSP PB10 USART3_TX USART3 SPEED_HIGH PB11 USART3_RX USART3 SPEED_HIGH # use a default node ID so this works with MSP only define HAL_CAN_DEFAULT_NODE_ID 112 define CAN_APP_NODE_NAME "org.ardupilot.f303_MatekGPS" # added QMC5883L mag on I2C COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 # I2C baro (DPS310) BARO DPS310 I2C:0:0x76 # enable builtin GPS, mag and baro # also allow for airspeed on i2c port, and rangefinder on MSP port define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_AIRSPEED define HAL_PERIPH_ENABLE_RANGEFINDER define HAL_PERIPH_ENABLE_MSP # setup for MSP define HAL_MSP_ENABLED 1 define AP_PERIPH_MSP_PORT_DEFAULT 2 # disable rangefinder by default define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1 # the M8 GPS is good at 10Hz, but the M9 is better at 5Hz, # so stick to 5Hz as the firmware is shared define GPS_MAX_RATE_MS 200 # 10" DLVR sensor by default define HAL_AIRSPEED_TYPE_DEFAULT 9 define AIRSPEED_MAX_SENSORS 1