mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
d82e82635f
The CAN port as it was is a valid CAN port for the nucleo, but on the development board the CAN silkscreen is actually on PD0 and PD1. This change makes it easier to get the example running on the Nucleo
114 lines
2.0 KiB
Plaintext
114 lines
2.0 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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AUTOBUILD_TARGETS None
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# MCU class and specific type
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MCU STM32L496 STM32L496xx
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# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 40
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# store parameters in pages 18 and 19
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STORAGE_FLASH_PAGE 18
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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 1047
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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 0
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# assume the 256k flash part
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FLASH_SIZE_KB 256
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# order of UARTs
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SERIAL_ORDER OTG1 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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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# LEDs
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PB7 LED OUTPUT LOW GPIO(1)
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# a fault LED
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# PB14 LED_FAULT OUTPUT LOW # red
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# spi bus for IMU
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PB12 IMU_CS CS
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SPIDEV Invensensev2 SPI2 DEVID2 IMU_CS MODE3 2*MHZ 8*MHZ
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# one I2C bus
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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I2C_ORDER I2C2
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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 512
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define DMA_RESERVE_SIZE 2048
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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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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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CAN_ORDER 1
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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PA4 VSENSE ADC1 SCALE(2)
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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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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BARO MS56XX SPI:ms5611
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BARO BMP388 I2C:0:0x76
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# define HAL_SPI_CHECK_CLOCK_FREQ
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# bootloader embedding / bootloader flashing not available
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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define HAL_RCIN_THREAD_ENABLED 1
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