mirror of https://github.com/ArduPilot/ardupilot
141 lines
2.6 KiB
Plaintext
141 lines
2.6 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# MCU class and specific type
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# MCU class and specific type
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MCU STM32G4xx STM32G474xx
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FLASH_RESERVE_START_KB 36
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STORAGE_FLASH_PAGE 16
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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 1053
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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# ensure NRST_MODE is set to "Reset input only". This fixes
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# an issue with resetting the CAN node and firmware update
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define HAL_FLASH_SET_NRST_MODE 0x01
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# debug on USART2
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STDOUT_SERIAL SD2
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STDOUT_BAUDRATE 57600
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# order of UARTs
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SERIAL_ORDER USART2 USART3
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# sensor power control
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PC11 VDD_3V3_SENSORS_EN OUTPUT HIGH
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# LEDs
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PC10 LED OUTPUT HIGH GPIO(2) # blue
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PB15 LED_R OUTPUT HIGH GPIO(0)
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PC6 LED_G OUTPUT HIGH GPIO(1)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# USART3, GPS
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# USART2, debug
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA
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# SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# I2C1 bus
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PB7 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2 bus (LED Driver)
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PA8 I2C2_SDA I2C2
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PA9 I2C2_SCL I2C2
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define HAL_I2C_INTERNAL_MASK 3
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# I2C buses
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I2C_ORDER I2C1 I2C2
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# one SPI bus (for IMU, unused)
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#PA5 SPI1_SCK SPI1
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#PA6 SPI1_MISO SPI1
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#PA7 SPI1_MOSI SPI1
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# SPI CS
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PC4 GYR_CS CS
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PB1 ACC_CS CS
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PC14 ICM_CS CS
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# GPS PPS
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PA15 GPS_PPS_IN INPUT
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# compass
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COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_90
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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 HAL_USE_RTC FALSE
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define DMA_RESERVE_SIZE 0
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# enable CAN support
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define HAL_NO_MONITOR_THREAD
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define HAL_DEVICE_THREAD_STACK 768
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 256
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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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DMA_NOSHARE USART3*
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# add support for moving baseline yaw
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define GPS_MOVING_BASELINE 1
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# GPS+MAG+LEDs
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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_NOTIFY
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define HAL_PERIPH_ENABLE_RC_OUT
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# GPS on 2nd port
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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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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