mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.0 KiB
Plaintext
85 lines
2.0 KiB
Plaintext
###########################################################################################################################################################
|
|
# mRo CAN PWM breakout
|
|
# 12x PWM / IO 3V3 logic level
|
|
# Connector options: 90deg 0.1", straight or no headers.
|
|
# External power supply for servos in solder pads.
|
|
# 1x UART port exposed in solder pads.
|
|
# Blue LEd status indicator.
|
|
# Uncased Weight and Dimensions:
|
|
# Weight: ()
|
|
# Width: 33mm (.79in)
|
|
# Length: 31.3mm (1.34in)
|
|
# Screw hole pattern: 19x25mm
|
|
# M10126A - Initial release March 2023
|
|
###########################################################################################################################################################
|
|
|
|
MCU STM32G4xx STM32G474xx
|
|
|
|
FLASH_RESERVE_START_KB 0
|
|
FLASH_BOOTLOADER_LOAD_KB 32
|
|
|
|
# reserve some space for params
|
|
APP_START_OFFSET_KB 8
|
|
|
|
FLASH_SIZE_KB 512
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1098
|
|
|
|
# setup build for a peripheral firmware
|
|
env AP_PERIPH 1
|
|
|
|
# debug on USART2
|
|
STDOUT_SERIAL SD1
|
|
STDOUT_BAUDRATE 57600
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
#define CH_CFG_ST_FREQUENCY 1000000
|
|
|
|
# order of UARTs
|
|
SERIAL_ORDER USART1
|
|
|
|
# blue LED
|
|
PB10 LED_BOOTLOADER OUTPUT LOW
|
|
define HAL_LED_ON 1
|
|
|
|
# USART1
|
|
PB6 USART1_TX USART1
|
|
PB7 USART1_RX USART1
|
|
|
|
# SWD debugging
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
define HAL_USE_SERIAL TRUE
|
|
|
|
define STM32_SERIAL_USE_USART1 TRUE
|
|
define STM32_SERIAL_USE_USART2 FALSE
|
|
define STM32_SERIAL_USE_USART3 FALSE
|
|
|
|
#define HAL_NO_GPIO_IRQ
|
|
#define HAL_USE_EMPTY_IO TRUE
|
|
|
|
# avoid timer and RCIN threads to save memory
|
|
define HAL_NO_TIMER_THREAD
|
|
define HAL_NO_RCIN_THREAD
|
|
|
|
define DMA_RESERVE_SIZE 0
|
|
|
|
define HAL_DISABLE_LOOP_DELAY
|
|
|
|
# enable CAN support
|
|
PA11 CAN1_RX CAN1
|
|
PA12 CAN1_TX CAN1
|
|
#PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
define CAN_APP_NODE_NAME "org.ardupilot.mRoCANPWM-M10126"
|
|
|
|
# make bl baudrate match debug baudrate for easier debugging
|
|
define BOOTLOADER_BAUDRATE 57600
|
|
|
|
# use a smaller bootloader timeout
|
|
define HAL_BOOTLOADER_TIMEOUT 2500
|