mirror of https://github.com/ArduPilot/ardupilot
117 lines
2.6 KiB
Plaintext
117 lines
2.6 KiB
Plaintext
# HW definition file for Sierra-TrueNav Pro
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# MCU class and specific type
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MCU STM32L431 STM32L431xx
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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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FLASH_SIZE_KB 256
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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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# ChibiOS system timer
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STM32_ST_USE_TIMER 15
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define CH_CFG_ST_RESOLUTION 16
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# board ID for firmware load
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APJ_BOARD_ID 1091
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# crystal frequency
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OSCILLATOR_HZ 16000000
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env AP_PERIPH 1
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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define DMA_RESERVE_SIZE 0
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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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# save memory
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define HAL_NO_MONITOR_THREAD
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define HAL_USE_ADC FALSE
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 256
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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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# --------------------- SPI1 RM3100+DPS310 -----------------------
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PB12 RM3100_CS CS
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PA8 BARO_CS CS
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# Baro probe
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SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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BARO DPS310 SPI:dps310
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# Mag probe
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SPIDEV rm3100 SPI1 DEVID1 RM3100_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
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define AP_RM3100_REVERSAL_MASK 7
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# ---------------------- CAN bus -------------------------
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CAN_ORDER 1
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
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define HAL_CAN_POOL_SIZE 12000
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# ---------------------- UARTs ---------------------------
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SERIAL_ORDER USART1
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# USART1 for GPS
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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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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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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# enable GPS and compass
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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_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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define HAL_PERIPH_GPS_PORT_DEFAULT 0
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# minimal GPS drivers to reduce flash usage
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include ../include/minimal_GPS.inc
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# GPS PPS
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PA15 GPS_PPS_IN INPUT
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# PWM, WS2812 LED
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PB10 TIM2_CH3 TIM2 PWM(1) GPIO(50)
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define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro"
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# Enable GPS LDO
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PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH
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define HAL_SERIAL_ESC_COMM_ENABLED 1
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