# hw definition file for Zubax GNSS # MCU class and specific type MCU STM32F105 STM32F105xC define STM32F107_MCUCONF FLASH_RESERVE_START_KB 0 FLASH_BOOTLOADER_LOAD_KB 34 # board ID for firmware load APJ_BOARD_ID 1005 # setup build for a peripheral firmware env AP_PERIPH 1 define HAL_BOARD_AP_PERIPH_ZUBAXGNSS define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS" # use DNA define HAL_CAN_DEFAULT_NODE_ID 0 # crystal frequency OSCILLATOR_HZ 16000000 define CH_CFG_ST_FREQUENCY 1000 FLASH_SIZE_KB 256 # reserve space for params FLASH_RESERVE_END_KB 2 # reserve 256 bytes for comms between app and bootloader RAM_RESERVE_START 256 # USART3 for debug #STDOUT_SERIAL SD3 #STDOUT_BAUDRATE 115200 # USART3 for debug PB10 USART3_TX USART3 SPEED_HIGH NODMA PB11 USART3_RX USART3 SPEED_HIGH NODMA PB7 PERIPH_RESET OUTPUT HIGH #PC1 HWID_BIT0 INPUT #PC2 HWID_BIT1_INV INPUT #PC3 HWID_BIT2 INPUT PB3 LED_BOOTLOADER OUTPUT PB5 LED_CAN1 OUTPUT PB4 LED_CAN2 OUTPUT define HAL_LED_ON 1 # don't enable DMA in UART driver define HAL_UART_NODMA # enable CAN support PA11 CAN_RX CAN PB9 CAN_TX CAN # no I2C buses # I2C_ORDER define HAL_USE_ADC FALSE define STM32_ADC_USE_ADC1 FALSE define HAL_DISABLE_ADC_DRIVER TRUE define HAL_NO_GPIO_IRQ define CH_CFG_ST_TIMEDELTA 0 define SERIAL_BUFFERS_SIZE 512 define HAL_USE_EMPTY_IO TRUE define PORT_INT_REQUIRED_STACK 64 # avoid timer and RCIN threads to save memory define HAL_NO_TIMER_THREAD define HAL_NO_RCIN_THREAD #defined to turn off undef warnings define __FPU_PRESENT 0 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 0x100 PROCESS_STACK 0x600 define HAL_DISABLE_LOOP_DELAY define HAL_NO_ROMFS_SUPPORT define HAL_UART_MIN_TX_SIZE 256 define HAL_UART_MIN_RX_SIZE 128 define HAL_UART_STACK_SIZE 256 define STORAGE_THD_WA_SIZE 512 define HAL_NO_GCS define HAL_NO_MONITOR_THREAD define HAL_MINIMIZE_FEATURES 0 define HAL_BUILD_AP_PERIPH define HAL_USE_EMPTY_STORAGE 1 define HAL_DEVICE_THREAD_STACK 768 define AP_PARAM_MAX_EMBEDDED_PARAM 0 # USART2 for GPS PA2 USART2_TX USART2 SPEED_HIGH NODMA PA3 USART2_RX USART2 SPEED_HIGH NODMA SERIAL_ORDER define HAL_STORAGE_SIZE 800 # Add CS pins to ensure they are high in bootloader PA15 BARO_CS CS PD2 MAG_CS CS # reduce the number of CAN RX Buffer define HAL_CAN_RX_QUEUE_SIZE 32