mirror of https://github.com/ArduPilot/ardupilot
118 lines
2.3 KiB
Plaintext
118 lines
2.3 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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# UARTs disabled to save flash
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# order of UARTs
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# SERIAL_ORDER USART1
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SERIAL_ORDER
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define HAL_USE_UART FALSE
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define HAL_NO_UARTDRIVER TRUE
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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 CAN/I2C selection LED
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PA5 LED_CAN_I2C 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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# enable CAN support
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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# GPIO for CAN/I2C selection
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PB5 GPIO_CAN_I2C1_SEL INPUT PUSHPULL FLOATING
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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_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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define HAL_NO_RCOUT_THREAD
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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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# 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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