# hw definition file for processing by chibios_pins.py # Sierra-PrecisionPoint # 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 1095 # setup build for a peripheral firmware env AP_PERIPH 1 STM32_ST_USE_TIMER 5 # crystal frequency OSCILLATOR_HZ 16000000 # assume 512k flash part FLASH_SIZE_KB 512 # USB PA11 USB_FS_DM OTG1 PA12 USB_FS_DP OTG1 PA9 VBUS INPUT OPENDRAIN # USB setup USB_STRING_MANUFACTURER "Sierra Aerospace" USB_STRING_PRODUCT "Sierra-PrecisionPoint" # order of UARTs SERIAL_ORDER OTG1 USART1 USART2 # USART1 for debug PB6 USART1_TX USART1 NODMA PB7 USART1_RX USART1 NODMA # USART2 for GPS PA2 USART2_TX USART2 SPEED_HIGH PA3 USART2_RX USART2 SPEED_HIGH # GPS on 2nd port define HAL_PERIPH_GPS_PORT_DEFAULT 1 # SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # Add CS pins PC0 RM3100_CS CS PC1 DPS310_CS CS PC4 ICM42688_CS CS # --------------------- SPI1 ICM42688 ----------------------- PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PC5 ICM42688_DRDY INPUT SPIDEV icm42688 SPI1 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90 # SPI1 FSYNC for ICM42688p # PB0 TIM3_CH3 TIM3 # --------------------- SPI2 DPS310+RM3100 ----------------------- PB10 SPI2_SCK SPI2 PC2 SPI2_MISO SPI2 PC3 SPI2_MOSI SPI2 # Baro probe SPIDEV dps310 SPI2 DEVID2 DPS310_CS MODE3 5*MHZ 5*MHZ BARO DPS310 SPI:dps310 # Mag probe SPIDEV rm3100 SPI2 DEVID1 RM3100_CS MODE0 1*MHZ 1*MHZ COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180 # define AP_RM3100_REVERSAL_MASK 7 # WS2812 LEDs PA15 TIM2_CH1 TIM2 PWM(1) # Board voltage ADC define HAL_USE_ADC TRUE PA0 VDD_5V_SENS ADC1 SCALE(2) # enable CAN support PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 PB13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW PB14 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW define CAN_APP_NODE_NAME "in.sierraaerospace.PrecisionPoint" # 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+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 # PB5 GPS_PPS INPUT FLOATING GPIO(6) # define CONFIGURE_PPS_PIN TRUE # define HAL_GPIO_PPS 6 # PB4 F9P_TX_READY INPUT # allow for F9P GPS modules with moving baseline define GPS_MOVING_BASELINE 1 define GPS_MAX_RATE_MS 200 # Logging define HAL_LOGGING_ENABLED 1 define HAL_PERIPH_ENABLE_RTC 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 PC12 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 # USB select PC6 USB_SEL OUTPUT PUSHPULL SPEED_LOW HIGH define HAL_SERIAL_ESC_COMM_ENABLED 1 define HAL_RCIN_THREAD_ENABLED 1 define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1