ardupilot/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat

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# 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_DISABLE_LOOP_DELAY
define HAL_GCS_ENABLED 0
define HAL_NO_MONITOR_THREAD
define HAL_NO_LOGGING
# 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_RCIN_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
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1