mirror of https://github.com/ArduPilot/ardupilot
165 lines
3.5 KiB
Plaintext
165 lines
3.5 KiB
Plaintext
# hw definition file for f303 Matek CAN GPS
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# MCU class and specific type
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MCU STM32F303 STM32F303xC
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# bootloader starts firmware at 26k
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FLASH_RESERVE_START_KB 26
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# store parameters in pages 11 and 12
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define STORAGE_FLASH_PAGE 11
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define HAL_STORAGE_SIZE 800
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# board ID for firmware load
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APJ_BOARD_ID 1004
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# enable watchdog
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define HAL_WATCHDOG_ENABLED_DEFAULT true
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define CH_CFG_ST_FREQUENCY 1000
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define CH_CFG_ST_TIMEDELTA 0
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# assume the 256k flash part for now
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FLASH_SIZE_KB 256
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# a LED to flash
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PA4 LED OUTPUT LOW
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define HAL_CAN_POOL_SIZE 6000
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# only one I2C bus in normal config
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# no ADC driver
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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# avoid timer and RCIN threads to save memory
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define HAL_NO_RCIN_THREAD
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define HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 0
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define PERIPH_FW TRUE
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# MAIN_STACK is stack of initial thread
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MAIN_STACK 0x300
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# PROCESS_STACK controls stack for main thread
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PROCESS_STACK 0x800
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define HAL_DISABLE_LOOP_DELAY
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# enable CAN support
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PA11 CAN_RX CAN
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PA12 CAN_TX CAN
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define HAL_CAN_RX_QUEUE_SIZE 32
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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define HAL_UART_MIN_TX_SIZE 256
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define HAL_UART_MIN_RX_SIZE 128
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define HAL_UART_STACK_SIZE 512
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define STORAGE_THD_WA_SIZE 512
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define IO_THD_WA_SIZE 512
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define HAL_NO_GCS
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define HAL_MINIMIZE_FEATURES 0
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define HAL_BUILD_AP_PERIPH
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# only one I2C bus
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I2C_ORDER I2C1
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_DEVICE_THREAD_STACK 512
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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define HAL_I2C_INTERNAL_MASK 1
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# use the app descriptor needed by MissionPlanner for CAN upload
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env APP_DESCRIPTOR MissionPlanner
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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# order of UARTs
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SERIAL_ORDER USART1 EMPTY USART3 USART2
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# USART1, for debug
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PA9 USART1_TX USART1 SPEED_HIGH NODMA
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PA10 USART1_RX USART1 SPEED_HIGH NODMA
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# USART2, connected to GPS
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PA2 USART2_TX USART2 SPEED_HIGH NODMA
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PA3 USART2_RX USART2 SPEED_HIGH NODMA
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# USART3, for MSP
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PB10 USART3_TX USART3 SPEED_HIGH
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PB11 USART3_RX USART3 SPEED_HIGH
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# use a default node ID so this works with MSP only
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define HAL_CAN_DEFAULT_NODE_ID 112
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define CAN_APP_NODE_NAME "org.ardupilot.f303_MatekGPS"
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# added QMC5883L mag on I2C
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
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# I2C baro (DPS310)
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BARO DPS310 I2C:0:0x76
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# enable builtin GPS, mag and baro
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# also allow for airspeed on i2c port, and rangefinder on MSP port
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define HAL_PERIPH_ENABLE_BARO
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define HAL_PERIPH_ENABLE_AIRSPEED
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define HAL_PERIPH_ENABLE_RANGEFINDER
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define HAL_PERIPH_ENABLE_MSP
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# setup for MSP
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define HAL_MSP_ENABLED 1
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define AP_PERIPH_MSP_PORT_DEFAULT 2
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# disable rangefinder by default
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define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
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# the M8 GPS is good at 10Hz, but the M9 is better at 5Hz,
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# so stick to 5Hz as the firmware is shared
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define GPS_MAX_RATE_MS 200
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# 10" DLVR sensor by default
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define HAL_AIRSPEED_TYPE_DEFAULT 9
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define AIRSPEED_MAX_SENSORS 1
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