# MCU class and specific type MCU STM32L431 STM32L431xx # bootloader starts firmware at 36k + 4k (STORAGE_FLASH) FLASH_RESERVE_START_KB 40 FLASH_SIZE_KB 256 # store parameters in pages 18 and 19 STORAGE_FLASH_PAGE 18 define HAL_STORAGE_SIZE 800 # ChibiOS system timer STM32_ST_USE_TIMER 15 define CH_CFG_ST_RESOLUTION 16 # board ID for firmware load APJ_BOARD_ID 1109 # crystal frequency OSCILLATOR_HZ 8000000 env AP_PERIPH 1 STDOUT_SERIAL SD1 STDOUT_BAUDRATE 57600 define HAL_NO_GPIO_IRQ define SERIAL_BUFFERS_SIZE 512 define PORT_INT_REQUIRED_STACK 64 define DMA_RESERVE_SIZE 0 # MAIN_STACK is stack for ISR handlers MAIN_STACK 0x300 # PROCESS_STACK controls stack for main thread PROCESS_STACK 0xA00 define HAL_NO_MONITOR_THREAD # we setup a small defaults.parm define AP_PARAM_MAX_EMBEDDED_PARAM 512 # blue LED0 marked as ACT PB3 LED OUTPUT HIGH define HAL_LED_ON 1 # debugger support PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # I2C bus I2C_ORDER I2C2 PB13 I2C2_SCL I2C2 PB14 I2C2_SDA I2C2 define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_I2C_INTERNAL_MASK 1 # CAN bus CAN_ORDER 1 PB8 CAN1_RX CAN1 PB9 CAN1_TX CAN1 # PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW define HAL_CAN_POOL_SIZE 12000 # UARTs SERIAL_ORDER USART1 EMPTY EMPTY # USART1 PB6 USART1_TX USART1 SPEED_HIGH PB7 USART1_RX USART1 SPEED_HIGH # allow for reboot command for faster development define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 # keep ROMFS uncompressed as we don't have enough RAM # to uncompress the bootloader at runtime env ROMFS_UNCOMPRESSED True # enable GPS and compass define HAL_PERIPH_ENABLE_GPS define GPS_MAX_RATE_MS 200 define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_PERIPH_GPS_PORT_DEFAULT 0 # allow for F9P GPS modules with moving baseline define GPS_MOVING_BASELINE 1 define HAL_PERIPH_ENABLE_MAG define HAL_COMPASS_MAX_SENSORS 1 # QMC5883L for different board varients COMPASS QMC5883L I2C:0:0xd false ROTATION_YAW_180 # no ADC pins define HAL_USE_ADC FALSE # disable unnecessary threads define HAL_NO_MONITOR_THREAD define HAL_NO_TIMER_THREAD # enable LED define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_NOTIFY #GPIO LED define HAL_HAVE_PIXRACER_LED PB2 LED_RED OUTPUT OPENDRAIN HIGH GPIO(0) PB4 LED_GREEN OUTPUT OPENDRAIN LOW GPIO(1) PB5 LED_BLUE OUTPUT OPENDRAIN LOW GPIO(2) define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2