mirror of https://github.com/ArduPilot/ardupilot
127 lines
2.5 KiB
Plaintext
127 lines
2.5 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
|
|
|
|
# MCU class and specific type
|
|
MCU STM32G441 STM32G441xx
|
|
|
|
# bootloader starts firmware at 22k + 4k (STORAGE_FLASH)
|
|
FLASH_RESERVE_START_KB 26
|
|
|
|
# store parameters in pages 11 and 12
|
|
define STORAGE_FLASH_PAGE 11
|
|
define HAL_STORAGE_SIZE 800
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1046
|
|
|
|
# setup build for a peripheral firmware
|
|
env AP_PERIPH 1
|
|
|
|
# enable watchdog
|
|
define HAL_WATCHDOG_ENABLED_DEFAULT true
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 24000000
|
|
|
|
# assume the 128k flash part
|
|
FLASH_SIZE_KB 128
|
|
|
|
# order of UARTs
|
|
SERIAL_ORDER USART1
|
|
|
|
define HAL_CAN_POOL_SIZE 6000
|
|
|
|
STDOUT_SERIAL SD1
|
|
STDOUT_BAUDRATE 57600
|
|
|
|
# USART1, telemetry
|
|
PB6 USART1_TX USART1 SPEED_HIGH
|
|
PB7 USART1_RX USART1 SPEED_HIGH
|
|
|
|
# LEDs
|
|
PA10 LED OUTPUT LOW
|
|
|
|
# a fault LED
|
|
PA6 LED_FAULT OUTPUT LOW
|
|
|
|
# allow for reboot command for faster development
|
|
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
|
|
|
|
# debugger support
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
define HAL_NO_GPIO_IRQ
|
|
define SERIAL_BUFFERS_SIZE 64
|
|
|
|
define NO_DATAFLASH TRUE
|
|
|
|
define DMA_RESERVE_SIZE 512
|
|
|
|
define PERIPH_FW TRUE
|
|
|
|
# stack for fast interrupts
|
|
define PORT_INT_REQUIRED_STACK 64
|
|
|
|
# MAIN_STACK is stack for ISR handlers
|
|
MAIN_STACK 0x300
|
|
|
|
# PROCESS_STACK controls stack for main thread
|
|
PROCESS_STACK 0x800
|
|
|
|
define HAL_DISABLE_LOOP_DELAY
|
|
|
|
# enable CAN support
|
|
PA11 CAN1_RX CAN1
|
|
PA12 CAN1_TX CAN1
|
|
|
|
# only one I2C bus in normal config
|
|
PA15 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
define HAL_USE_I2C TRUE
|
|
define STM32_I2C_USE_I2C1 TRUE
|
|
I2C_ORDER I2C1
|
|
define HAL_I2C_CLEAR_ON_TIMEOUT 0
|
|
define HAL_I2C_INTERNAL_MASK 0
|
|
|
|
define HAL_USE_ADC FALSE
|
|
define STM32_ADC_USE_ADC1 FALSE
|
|
define HAL_DISABLE_ADC_DRIVER TRUE
|
|
|
|
define HAL_NO_MONITOR_THREAD
|
|
|
|
define HAL_MINIMIZE_FEATURES 0
|
|
|
|
define HAL_BUILD_AP_PERIPH
|
|
|
|
define HAL_DEVICE_THREAD_STACK 0x200
|
|
define STORAGE_THD_WA_SIZE 512
|
|
define IO_THD_WA_SIZE 512
|
|
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 128
|
|
|
|
# use the app descriptor needed by MissionPlanner for CAN upload
|
|
env APP_DESCRIPTOR MissionPlanner
|
|
|
|
# reserve 256 bytes for comms between app and bootloader
|
|
RAM_RESERVE_START 256
|
|
|
|
# keep ROMFS uncompressed as we don't have enough RAM
|
|
# to uncompress the bootloader at runtime
|
|
env ROMFS_UNCOMPRESSED True
|
|
|
|
# use DNA
|
|
define HAL_CAN_DEFAULT_NODE_ID 0
|
|
|
|
define CAN_APP_NODE_NAME "org.ardupilot.Hitec-Airspeed"
|
|
|
|
# don't share any DMA channels (there are enough for everyone)
|
|
DMA_NOSHARE *
|
|
|
|
# default to DLVR 10in
|
|
AIRSPEED DLVR I2C:0:0x28 10
|
|
define AIRSPEED_MAX_SENSORS 1
|
|
define HAL_AIRSPEED_BUS_DEFAULT 0
|
|
define HAL_PERIPH_ENABLE_AIRSPEED
|
|
define HAL_AIRSPEED_TYPE_DEFAULT 9
|