mirror of https://github.com/ArduPilot/ardupilot
87 lines
1.6 KiB
Plaintext
87 lines
1.6 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 STM32G4xx STM32G474xx
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FLASH_RESERVE_START_KB 0
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FLASH_BOOTLOADER_LOAD_KB 32
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# reserve some space for params
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APP_START_OFFSET_KB 4
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# assume 512k flash part
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FLASH_SIZE_KB 512
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# board ID for firmware load
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APJ_BOARD_ID 1053
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# debug on USART2
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STDOUT_SERIAL SD2
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STDOUT_BAUDRATE 57600
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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# order of UARTs
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SERIAL_ORDER USART2
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# blue LED
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PC10 LED_BOOTLOADER OUTPUT HIGH
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define HAL_LED_ON 0
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PB15 LED_RED OUTPUT HIGH
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PC6 LED_GREEN OUTPUT HIGH
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# USART2
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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# SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define HAL_USE_SERIAL TRUE
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define STM32_SERIAL_USE_USART1 FALSE
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define STM32_SERIAL_USE_USART2 TRUE
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define STM32_SERIAL_USE_USART3 FALSE
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define HAL_NO_GPIO_IRQ
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define HAL_USE_EMPTY_IO TRUE
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# avoid timer and RCIN threads to save memory
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define HAL_NO_TIMER_THREAD
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define HAL_NO_RCIN_THREAD
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define DMA_RESERVE_SIZE 0
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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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PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "org.ardupilot.HolybroG4_GPS"
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# make bl baudrate match debug baudrate for easier debugging
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define BOOTLOADER_BAUDRATE 57600
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# use a smaller bootloader timeout
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define HAL_BOOTLOADER_TIMEOUT 2500
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# Add CS pins to ensure they are high in bootloader
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PB1 BARO_CS CS
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PC4 GYRO_CS CS
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PC14 ICM_CS CS
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