mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
6968d67a05
this appears to be the root cause of the parameter resets on CubeOrange. We need to ensure the CS pin is not floating or random noise on the SPI bus for FRAM can cause the FRAM to become corrupt
114 lines
2.3 KiB
Plaintext
114 lines
2.3 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 STM32F4xx STM32F412Rx
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FLASH_RESERVE_START_KB 0
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# two sectors for bootloader, two for storage
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FLASH_BOOTLOADER_LOAD_KB 64
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# board ID for firmware load
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APJ_BOARD_ID 1001
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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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STM32_HSE_ENABLED TRUE
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STM32_PLLM_VALUE 16
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STM32_PLLN_VALUE 384
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STM32_PLLP_VALUE 4
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STM32_PLLQ_VALUE 8
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STM32_PLLSRC STM32_PLLSRC_HSE
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STM32_PREE1 STM32_PREE1_DIV1
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STM32_PREE2 STM32_PREE2_DIV1
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STM32_HPRE STM32_HPRE_DIV1
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STM32_PPRE1 STM32_PPRE1_DIV2
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STM32_PPRE2 STM32_PPRE2_DIV2
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define CH_CFG_ST_FREQUENCY 1000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# board voltage
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STM32_VDD 330U
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# order of UARTs
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UART_ORDER
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# use safety button to stay in bootloader
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PB3 STAY_IN_BOOTLOADER INPUT PULLDOWN
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define HAL_STAY_IN_BOOTLOADER_VALUE 1
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PB12 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 1
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# USART1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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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 TRUE
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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 HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 0
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define PERIPH_FW TRUE
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define HAL_DISABLE_LOOP_DELAY
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define HAL_USE_CAN TRUE
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define STM32_CAN_USE_CAN1 TRUE
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define CAN_APP_NODE_NAME "org.ardupilot.cuav_gps"
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# start with a fixed node ID so the board is usable without DNA
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define HAL_CAN_DEFAULT_NODE_ID 116
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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 small bootloader timeout
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define HAL_BOOTLOADER_TIMEOUT 1000
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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# Add CS pins to ensure they are high in bootloader
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PA4 MAG_CS CS
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PA10 MS5611_CS CS
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