# hw definition file for processing by chibios_pins.py # MCU class and specific type # 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 define STORAGE_FLASH_PAGE 2 define HAL_STORAGE_SIZE 8192 # board ID for firmware load APJ_BOARD_ID 1001 # 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 # assume 512k flash part FLASH_SIZE_KB 512 STDOUT_SERIAL SD1 STDOUT_BAUDRATE 57600 # order of UARTs SERIAL_ORDER USART1 EMPTY EMPTY USART2 # a LED to flash PB12 LED OUTPUT LOW # USART1 for debug PB6 USART1_TX USART1 NODMA PB7 USART1_RX USART1 NODMA define HAL_SERIAL0_BAUD_DEFAULT 57600 # USART2 for GPS PA2 USART2_TX USART2 NODMA PA3 USART2_RX USART2 NODMA # SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # only one I2C bus in normal config PB4 I2C3_SDA I2C3 PA8 I2C3_SCL I2C3 define HAL_USE_I2C TRUE define STM32_I2C_USE_I2C3 TRUE define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_I2C_INTERNAL_MASK 0 # only one I2C bus I2C_ORDER I2C3 # only one SPI bus in normal config PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI CS PA4 MAG_CS CS PA10 MS5611_CS CS # SPI devices SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ SPIDEV ms5611 SPI1 DEVID2 MS5611_CS MODE3 20*MHZ 20*MHZ # compass COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_90 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180 # baro BARO BMP388 I2C:0:0x76 BARO MS56XX SPI:ms5611 # PWM output for buzzer PB10 TIM2_CH3 TIM2 GPIO(77) LOW ALARM # safety LED, active low PB1 SAFE_LED OUTPUT HIGH define SAFE_LED_ON 0 # safety button PB3 SAFE_BUTTON INPUT PULLDOWN # WS2812 LED PB0 TIM3_CH3 TIM3 PWM(1) 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 NO_DATAFLASH TRUE define DMA_RESERVE_SIZE 0 define PERIPH_FW TRUE define HAL_DISABLE_LOOP_DELAY # enable CAN support PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW # use DNA define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps" define HAL_NO_GCS define HAL_NO_LOGGING define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 define HAL_BUILD_AP_PERIPH 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 # GPS+MAG+BARO+Buzzer+NeoPixels 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 # 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