mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 07:58:28 -04:00
185ccaee92
We may need to revisit this if we are able to transfer these files over some other mechanism into the future
116 lines
2.2 KiB
Plaintext
116 lines
2.2 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 STM32G441 STM32G441xx
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# bootloader starts firmware at 22k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 26
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# store parameters in pages 11 and 12
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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 1046
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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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# crystal frequency
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OSCILLATOR_HZ 24000000
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# assume the 128k flash part
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FLASH_SIZE_KB 128
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# order of UARTs
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SERIAL_ORDER USART1
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define HAL_CAN_POOL_SIZE 6000
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# USART1, telemetry
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PB6 USART1_TX USART1 SPEED_HIGH
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PB7 USART1_RX USART1 SPEED_HIGH
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# LEDs
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PA10 LED OUTPUT LOW
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# a fault LED
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PA6 LED_FAULT OUTPUT LOW
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# allow for reboot command for faster development
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 64
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define DMA_RESERVE_SIZE 512
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# stack for fast interrupts
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define PORT_INT_REQUIRED_STACK 64
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# MAIN_STACK is stack for ISR handlers
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MAIN_STACK 0x300
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# PROCESS_STACK controls stack for main thread
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PROCESS_STACK 0xA00
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define HAL_DISABLE_LOOP_DELAY
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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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# only one I2C bus in normal config
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PA15 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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I2C_ORDER I2C1
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 0
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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_MONITOR_THREAD
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define HAL_MINIMIZE_FEATURES 0
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define HAL_DEVICE_THREAD_STACK 0x200
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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 AP_PARAM_MAX_EMBEDDED_PARAM 128
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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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define CAN_APP_NODE_NAME "org.ardupilot.Hitec-Airspeed"
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# don't share any DMA channels (there are enough for everyone)
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DMA_NOSHARE *
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# default to DLVR 10in
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AIRSPEED DLVR I2C:0:0x28 10
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define AIRSPEED_MAX_SENSORS 1
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define HAL_AIRSPEED_BUS_DEFAULT 0
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define HAL_PERIPH_ENABLE_AIRSPEED
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define HAL_AIRSPEED_TYPE_DEFAULT 9
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