mirror of https://github.com/ArduPilot/ardupilot
95 lines
1.8 KiB
Plaintext
95 lines
1.8 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 STM32G491xx
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# use DNA
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define HAL_CAN_DEFAULT_NODE_ID 0
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define CAN_APP_NODE_NAME "io.mrobotics.mRo-M10095"
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# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 30
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# store parameters in pages 13 and 14
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STORAGE_FLASH_PAGE 13
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define HAL_STORAGE_SIZE 800
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# enable watchdog
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define HAL_WATCHDOG_ENABLED_DEFAULT true
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# assume the 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 1041
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define HAL_CAN_POOL_SIZE 6000
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# LEDs
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PA4 LED OUTPUT HIGH
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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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# Order of I2C buses
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I2C_ORDER I2C1
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# this board only has a single I2C bus so make it external
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define HAL_I2C_INTERNAL_MASK 0
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# Now the first I2C bus. The pin speeds are automatically setup
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# correctly, but can be overridden here if needed.
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PA15 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# an I2C baro (DPS310)
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BARO DPS280 I2C:0:0x77
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define HAL_PERIPH_ENABLE_BARO
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PA0 VSENSE50 ADC1 SCALE(3)
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PA1 VSENSE3v3 ADC1 SCALE(2)
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define DMA_RESERVE_SIZE 2048
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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# order of UARTs
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SERIAL_ORDER USART1
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# USART1, telemetry
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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# stack for fast interrupts
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define PORT_INT_REQUIRED_STACK 64
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define HAL_DISABLE_LOOP_DELAY
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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define HAL_NO_MONITOR_THREAD
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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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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# don't share any DMA channels (there are enough for everyone)
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DMA_NOSHARE *
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