mirror of https://github.com/ArduPilot/ardupilot
149 lines
2.7 KiB
Plaintext
149 lines
2.7 KiB
Plaintext
# hw definition file for Zubax GNSS
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# MCU class and specific type
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MCU STM32F105 STM32F105xC
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define STM32F107_MCUCONF
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define HAL_BOARD_AP_PERIPH_ZUBAXGNSS
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define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS"
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# bootloader starts firmware at 34k
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FLASH_RESERVE_START_KB 34
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# store parameters in last 2 pages
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STORAGE_FLASH_PAGE 126
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define HAL_STORAGE_SIZE 800
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# board ID for firmware load
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APJ_BOARD_ID 1005
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000
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FLASH_SIZE_KB 256
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# USART3 for debug
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STDOUT_SERIAL SD3
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STDOUT_BAUDRATE 115200
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# enable pin for GPS
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PB7 GPS_ENABLE OUTPUT HIGH
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PA15 BARO_CS CS
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PD2 MAG_CS CS
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PB6 MAG_DRDY INPUT
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PC1 HWID_BIT0 INPUT
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PC2 HWID_BIT1_INV INPUT
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PC3 HWID_BIT2 INPUT
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PB3 LED OUTPUT
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PB5 LED_CAN1 OUTPUT
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PB4 LED_CAN2 OUTPUT
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# USART2 for GPS
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PA2 USART2_TX USART2 SPEED_HIGH NODMA
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PA3 USART2_RX USART2 SPEED_HIGH NODMA
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# USART3 for debug
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PB10 USART3_TX USART3 SPEED_HIGH NODMA
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PB11 USART3_RX USART3 SPEED_HIGH NODMA
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# PA13 XPA13 OUTPUT HIGH
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# PA1 XPA1 INPUT FLOATING
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# don't enable DMA in UART driver
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define HAL_UART_NODMA
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# enable watchdog
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# enable CAN support
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PA11 CAN_RX CAN
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PB9 CAN_TX CAN
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# no I2C buses
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# I2C_ORDER
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# spi bus for baro/mag
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PC10 SPI3_SCK SPI3 SPEED_HIGH
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PC11 SPI3_MISO SPI3 SPEED_HIGH
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PC12 SPI3_MOSI SPI3 SPEED_HIGH
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#########################
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# order of UARTs
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SERIAL_ORDER USART3 EMPTY EMPTY USART2
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SPIDEV ms5611 SPI3 DEVID1 BARO_CS MODE3 8*MHZ 8*MHZ
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SPIDEV lis3mdl SPI3 DEVID2 MAG_CS MODE3 500*KHZ 500*KHZ
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_NO_GPIO_IRQ
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define CH_CFG_ST_TIMEDELTA 0
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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# avoid RCIN thread to save memory
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define HAL_NO_RCIN_THREAD
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#defined to turn off undef warnings
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define __FPU_PRESENT 0
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define HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define DMA_RESERVE_SIZE 0
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MAIN_STACK 0x200
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PROCESS_STACK 0xA00
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define HAL_DISABLE_LOOP_DELAY
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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define HAL_UART_MIN_TX_SIZE 256
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define HAL_UART_MIN_RX_SIZE 128
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define HAL_UART_STACK_SIZE 256
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define STORAGE_THD_WA_SIZE 512
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_DEVICE_THREAD_STACK 768
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define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_I2C_INTERNAL_MASK 0
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# LIS3MDL compass
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_YAW_270
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# MS5611 baro
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BARO MS56XX SPI:ms5611
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_NO_MONITOR_THREAD
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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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# reduce the number of CAN RX Buffer
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define HAL_CAN_RX_QUEUE_SIZE 32
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