mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.7 KiB
PHP
50 lines
1.7 KiB
PHP
# hw definition file for processing by chibios_pins.py
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include ../iomcu/hwdef.inc
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undef AP_FASTBOOT_ENABLED AP_BOOTLOADER_FLASHING_ENABLED
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undef HAL_DSHOT_ENABLED
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# PPM uses a DMA channel that is required for TIM2, and no remapping of PA8 is possible
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undef PA8
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undef STM32_ICU_USE_TIM1 RCIN_ICU_TIMER STM32_RCIN_DMA_STREAM HAL_USE_ICU
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undef PORT_INT_REQUIRED_STACK MAIN_STACK
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undef CH_CFG_ST_TIMEDELTA CH_CFG_ST_FREQUENCY
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undef AP_HAL_SHARED_DMA_ENABLED
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# TIM2_UP required for PWM1/2
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define STM32_TIM_TIM2_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
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define STM32_TIM_TIM2_UP_DMA_CHAN 1
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# TIM4_UP (PWM 3/4) cannot be used without sharing as channels used by high speed USART2 RX/TX
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define AP_HAL_SHARED_DMA_ENABLED 1
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define STM32_TIM_TIM4_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
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define STM32_TIM_TIM4_UP_DMA_CHAN 1
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define SHARED_DMA_MASK (1U<<STM32_TIM_TIM4_UP_DMA_STREAM)
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# TIM3_UP required for PWM5-8
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define STM32_TIM_TIM3_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
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define STM32_TIM_TIM3_UP_DMA_CHAN 1
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define NO_FASTBOOT
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define HAL_WITH_DSP FALSE
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define HAL_DSHOT_ENABLED TRUE
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define HAL_SERIALLED_ENABLED FALSE
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# Tickless mode is required in order for the virtual timers used by dshot to work correctly
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STM32_ST_USE_TIMER 15
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define CH_CFG_ST_RESOLUTION 16
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define CH_CFG_ST_TIMEDELTA 2
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define CH_CFG_ST_FREQUENCY 1000000
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# ChibiOS already correctly sets stack sizes and considers 64 extra as conservative
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define PORT_INT_REQUIRED_STACK 64
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# "main" stack is only used for exceptions and ISR, but they can be nested
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MAIN_STACK 0x180
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# defines to allow the loop timing to be observed with a Saleae
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#define IOMCU_LOOP_TIMING_DEBUG 1
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#undef PB0 PB1
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#PB0 PINIO1 OUTPUT GPIO(107) LOW
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#PB1 PINIO2 OUTPUT GPIO(108) LOW
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