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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G441xx.py

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#!/usr/bin/env python
'''
tables for STM32G441xx MCUs
'''
# additional build information for ChibiOS
build = {
"CHIBIOS_STARTUP_MK" : "os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32g4xx.mk",
"CHIBIOS_PLATFORM_MK" : "os/hal/ports/STM32/STM32G4xx/platform.mk"
}
# MCU parameters
mcu = {
# ram map, as list of (address, size-kb, flags)
# flags of 1 means DMA-capable (DMA and BDMA)
# flags of 2 means faster memory for CPU intensive work
# flags of 4 means memory can be used for SDMMC DMA
'RAM_MAP' : [
(0x20000000, 22, 1), # SRAM1/SRAM2
(0x10000000, 10, 2), # CCM
],
'EXPECTED_CLOCK' : 168000000,
'DEFINES' : {
'STM32G4' : '1',
}
}
# max pin package is 128
pincount = {
'A': 16,
'B': 16,
'C': 16,
'D': 16,
'E': 16,
'F': 16,
'G': 16,
}
# no DMA map as we will dynamically allocate DMA channels using the DMAMUX
DMA_Map = None
AltFunction_map = {
# format is PIN:FUNCTION : AFNUM
# extracted from g441.txt
"PA0:COMP1_OUT" : 8,
"PA0:EVENTOUT" : 15,
"PA0:TIM2_CH1" : 1,
"PA0:TIM2_ETR" : 14,
"PA0:TIM8_BKIN" : 9,
"PA0:TIM8_ETR" : 10,
"PA0:USART2_CTS" : 7,
"PA0:USART2_NSS" : 7,
"PA1:EVENTOUT" : 15,
"PA1:RTC_REFIN" : 0,
"PA1:TIM15_CH1N" : 9,
"PA1:TIM2_CH2" : 1,
"PA1:USART2_DE" : 7,
"PA1:USART2_RTS" : 7,
"PA2:COMP2_OUT" : 8,
"PA2:EVENTOUT" : 15,
"PA2:LPUART1_TX" : 12,
"PA2:TIM15_CH1" : 9,
"PA2:TIM2_CH3" : 1,
"PA2:UCPD1_FRSTX1" : 14,
"PA2:UCPD1_FRSTX2" : 14,
"PA2:USART2_TX" : 7,
"PA3:EVENTOUT" : 15,
"PA3:LPUART1_RX" : 12,
"PA3:SAI1_CK1" : 3,
"PA3:SAI1_MCLK_A" : 13,
"PA3:TIM15_CH2" : 9,
"PA3:TIM2_CH4" : 1,
"PA3:USART2_RX" : 7,
"PA4:EVENTOUT" : 15,
"PA4:I2S3_WS" : 6,
"PA4:SAI1_FS_B" : 13,
"PA4:SPI1_NSS" : 5,
"PA4:SPI3_NSS" : 6,
"PA4:TIM3_CH2" : 2,
"PA4:USART2_CK" : 7,
"PA5:EVENTOUT" : 15,
"PA5:SPI1_SCK" : 5,
"PA5:TIM2_CH1" : 1,
"PA5:TIM2_ETR" : 2,
"PA5:UCPD1_FRSTX1" : 14,
"PA5:UCPD1_FRSTX2" : 14,
"PA6:COMP1_OUT" : 8,
"PA6:EVENTOUT" : 15,
"PA6:LPUART1_CTS" : 12,
"PA6:SPI1_MISO" : 5,
"PA6:TIM16_CH1" : 1,
"PA6:TIM1_BKIN" : 6,
"PA6:TIM3_CH1" : 2,
"PA6:TIM8_BKIN" : 4,
"PA7:COMP2_OUT" : 8,
"PA7:EVENTOUT" : 15,
"PA7:SPI1_MOSI" : 5,
"PA7:TIM17_CH1" : 1,
"PA7:TIM1_CH1N" : 6,
"PA7:TIM3_CH2" : 2,
"PA7:TIM8_CH1N" : 4,
"PA7:UCPD1_FRSTX1" : 14,
"PA7:UCPD1_FRSTX2" : 14,
"PA8:EVENTOUT" : 15,
"PA8:I2C2_SDA" : 4,
"PA8:I2C3_SCL" : 2,
"PA8:I2S2_MCK" : 5,
"PA8:RCC_MCO" : 0,
"PA8:SAI1_CK2" : 12,
"PA8:SAI1_SCK_A" : 14,
"PA8:TIM1_CH1" : 6,
"PA8:TIM4_ETR" : 10,
"PA8:USART1_CK" : 7,
"PA9:EVENTOUT" : 15,
"PA9:I2C2_SCL" : 4,
"PA9:I2C3_SMBA" : 2,
"PA9:I2S3_MCK" : 5,
"PA9:SAI1_FS_A" : 14,
"PA9:TIM15_BKIN" : 9,
"PA9:TIM1_CH2" : 6,
"PA9:TIM2_CH3" : 10,
"PA9:USART1_TX" : 7,
"PA10:CRS_SYNC" : 3,
"PA10:EVENTOUT" : 15,
"PA10:I2C2_SMBA" : 4,
"PA10:SAI1_D1" : 12,
"PA10:SAI1_SD_A" : 14,
"PA10:SPI2_MISO" : 5,
"PA10:TIM17_BKIN" : 1,
"PA10:TIM1_CH3" : 6,
"PA10:TIM2_CH4" : 10,
"PA10:TIM8_BKIN" : 11,
"PA10:USART1_RX" : 7,
"PA11:COMP1_OUT" : 8,
"PA11:EVENTOUT" : 15,
"PA11:CAN1_RX" : 9,
"PA11:I2S2_SD" : 5,
"PA11:SPI2_MOSI" : 5,
"PA11:TIM1_BKIN2" : 12,
"PA11:TIM1_CH1N" : 6,
"PA11:TIM1_CH4" : 11,
"PA11:TIM4_CH1" : 10,
"PA11:USART1_CTS" : 7,
"PA11:USART1_NSS" : 7,
"PA12:COMP2_OUT" : 8,
"PA12:EVENTOUT" : 15,
"PA12:CAN1_TX" : 9,
"PA12:I2S_CKIN" : 5,
"PA12:TIM16_CH1" : 1,
"PA12:TIM1_CH2N" : 6,
"PA12:TIM1_ETR" : 11,
"PA12:TIM4_CH2" : 10,
"PA12:USART1_DE" : 7,
"PA12:USART1_RTS" : 7,
"PA13:EVENTOUT" : 15,
"PA13:I2C1_SCL" : 4,
"PA13:IR_OUT" : 5,
"PA13:SAI1_SD_B" : 13,
"PA13:JTMS-SWDIO" : 0,
"PA13:TIM16_CH1N" : 1,
"PA13:TIM4_CH3" : 10,
"PA13:USART3_CTS" : 7,
"PA13:USART3_NSS" : 7,
"PA14:EVENTOUT" : 15,
"PA14:I2C1_SDA" : 4,
"PA14:LPTIM1_OUT" : 1,
"PA14:SAI1_FS_B" : 13,
"PA14:JTCK-SWCLK" : 0,
"PA14:TIM1_BKIN" : 6,
"PA14:TIM8_CH2" : 5,
"PA14:USART2_TX" : 7,
"PA15:EVENTOUT" : 15,
"PA15:I2C1_SCL" : 4,
"PA15:I2S3_WS" : 6,
"PA15:SPI1_NSS" : 5,
"PA15:SPI3_NSS" : 6,
"PA15:SYS_JTDI" : 0,
"PA15:TIM1_BKIN" : 9,
"PA15:TIM2_CH1" : 1,
"PA15:TIM2_ETR" : 14,
"PA15:TIM8_CH1" : 2,
"PA15:UART4_DE" : 8,
"PA15:UART4_RTS" : 8,
"PA15:USART2_RX" : 7,
"PB0:EVENTOUT" : 15,
"PB0:TIM1_CH2N" : 6,
"PB0:TIM3_CH3" : 2,
"PB0:TIM8_CH2N" : 4,
"PB0:UCPD1_FRSTX1" : 14,
"PB0:UCPD1_FRSTX2" : 14,
"PB1:COMP4_OUT" : 8,
"PB1:EVENTOUT" : 15,
"PB1:LPUART1_DE" : 12,
"PB1:LPUART1_RTS" : 12,
"PB1:TIM1_CH3N" : 6,
"PB1:TIM3_CH4" : 2,
"PB1:TIM8_CH3N" : 4,
"PB2:EVENTOUT" : 15,
"PB2:I2C3_SMBA" : 4,
"PB2:LPTIM1_OUT" : 1,
"PB2:RTC_OUT2" : 0,
"PB3:CRS_SYNC" : 3,
"PB3:EVENTOUT" : 15,
"PB3:I2S3_CK" : 6,
"PB3:SAI1_SCK_B" : 14,
"PB3:SPI1_SCK" : 5,
"PB3:SPI3_SCK" : 6,
"PB3:SYS_JTDO-SWO" : 0,
"PB3:TIM2_CH2" : 1,
"PB3:TIM3_ETR" : 10,
"PB3:TIM4_ETR" : 2,
"PB3:TIM8_CH1N" : 4,
"PB3:USART2_TX" : 7,
"PB4:EVENTOUT" : 15,
"PB4:SAI1_MCLK_B" : 14,
"PB4:SPI1_MISO" : 5,
"PB4:SPI3_MISO" : 6,
"PB4:SYS_JTRST" : 0,
"PB4:TIM16_CH1" : 1,
"PB4:TIM17_BKIN" : 10,
"PB4:TIM3_CH1" : 2,
"PB4:TIM8_CH2N" : 4,
"PB4:USART2_RX" : 7,
"PB5:EVENTOUT" : 15,
"PB5:I2C1_SMBA" : 4,
"PB5:I2C3_SDA" : 8,
"PB5:I2S3_SD" : 6,
"PB5:LPTIM1_IN1" : 11,
"PB5:SAI1_SD_B" : 12,
"PB5:SPI1_MOSI" : 5,
"PB5:SPI3_MOSI" : 6,
"PB5:TIM16_BKIN" : 1,
"PB5:TIM17_CH1" : 10,
"PB5:TIM3_CH2" : 2,
"PB5:TIM8_CH3N" : 3,
"PB5:USART2_CK" : 7,
"PB6:COMP4_OUT" : 8,
"PB6:EVENTOUT" : 15,
"PB6:LPTIM1_ETR" : 11,
"PB6:SAI1_FS_B" : 14,
"PB6:TIM16_CH1N" : 1,
"PB6:TIM4_CH1" : 2,
"PB6:TIM8_BKIN2" : 10,
"PB6:TIM8_CH1" : 5,
"PB6:TIM8_ETR" : 6,
"PB6:USART1_TX" : 7,
"PB7:COMP3_OUT" : 8,
"PB7:EVENTOUT" : 15,
"PB7:I2C1_SDA" : 4,
"PB7:LPTIM1_IN2" : 11,
"PB7:TIM17_CH1N" : 1,
"PB7:TIM3_CH4" : 10,
"PB7:TIM4_CH2" : 2,
"PB7:TIM8_BKIN" : 5,
"PB7:UART4_CTS" : 14,
"PB7:USART1_RX" : 7,
"PB8:COMP1_OUT" : 8,
"PB8:EVENTOUT" : 15,
"PB8:CAN1_RX" : 9,
"PB8:I2C1_SCL" : 4,
"PB8:SAI1_CK1" : 3,
"PB8:SAI1_MCLK_A" : 14,
"PB8:TIM16_CH1" : 1,
"PB8:TIM1_BKIN" : 12,
"PB8:TIM4_CH3" : 2,
"PB8:TIM8_CH2" : 10,
"PB8:USART3_RX" : 7,
"PB9:COMP2_OUT" : 8,
"PB9:EVENTOUT" : 15,
"PB9:CAN1_TX" : 9,
"PB9:I2C1_SDA" : 4,
"PB9:IR_OUT" : 6,
"PB9:SAI1_D2" : 3,
"PB9:SAI1_FS_A" : 14,
"PB9:TIM17_CH1" : 1,
"PB9:TIM1_CH3N" : 12,
"PB9:TIM4_CH4" : 2,
"PB9:TIM8_CH3" : 10,
"PB9:USART3_TX" : 7,
"PB10:EVENTOUT" : 15,
"PB10:LPUART1_RX" : 8,
"PB10:SAI1_SCK_A" : 14,
"PB10:TIM1_BKIN" : 12,
"PB10:TIM2_CH3" : 1,
"PB10:USART3_TX" : 7,
"PB11:EVENTOUT" : 15,
"PB11:LPUART1_TX" : 8,
"PB11:TIM2_CH4" : 1,
"PB11:USART3_RX" : 7,
"PB12:EVENTOUT" : 15,
"PB12:I2C2_SMBA" : 4,
"PB12:I2S2_WS" : 5,
"PB12:LPUART1_DE" : 8,
"PB12:LPUART1_RTS" : 8,
"PB12:SPI2_NSS" : 5,
"PB12:TIM1_BKIN" : 6,
"PB12:USART3_CK" : 7,
"PB13:EVENTOUT" : 15,
"PB13:I2S2_CK" : 5,
"PB13:LPUART1_CTS" : 8,
"PB13:SPI2_SCK" : 5,
"PB13:TIM1_CH1N" : 6,
"PB13:USART3_CTS" : 7,
"PB13:USART3_NSS" : 7,
"PB14:COMP4_OUT" : 8,
"PB14:EVENTOUT" : 15,
"PB14:SPI2_MISO" : 5,
"PB14:TIM15_CH1" : 1,
"PB14:TIM1_CH2N" : 6,
"PB14:USART3_DE" : 7,
"PB14:USART3_RTS" : 7,
"PB15:COMP3_OUT" : 3,
"PB15:EVENTOUT" : 15,
"PB15:I2S2_SD" : 5,
"PB15:RTC_REFIN" : 0,
"PB15:SPI2_MOSI" : 5,
"PB15:TIM15_CH1N" : 2,
"PB15:TIM15_CH2" : 1,
"PB15:TIM1_CH3N" : 4,
"PC0:EVENTOUT" : 15,
"PC0:LPTIM1_IN1" : 1,
"PC0:LPUART1_RX" : 8,
"PC0:TIM1_CH1" : 2,
"PC1:EVENTOUT" : 15,
"PC1:LPTIM1_OUT" : 1,
"PC1:LPUART1_TX" : 8,
"PC1:SAI1_SD_A" : 13,
"PC1:TIM1_CH2" : 2,
"PC2:COMP3_OUT" : 3,
"PC2:EVENTOUT" : 15,
"PC2:LPTIM1_IN2" : 1,
"PC2:TIM1_CH3" : 2,
"PC3:EVENTOUT" : 15,
"PC3:LPTIM1_ETR" : 1,
"PC3:SAI1_D1" : 3,
"PC3:SAI1_SD_A" : 13,
"PC3:TIM1_BKIN2" : 6,
"PC3:TIM1_CH4" : 2,
"PC4:EVENTOUT" : 15,
"PC4:I2C2_SCL" : 4,
"PC4:TIM1_ETR" : 2,
"PC4:USART1_TX" : 7,
"PC5:EVENTOUT" : 15,
"PC5:SAI1_D3" : 3,
"PC5:TIM15_BKIN" : 2,
"PC5:TIM1_CH4N" : 6,
"PC5:USART1_RX" : 7,
"PC6:EVENTOUT" : 15,
"PC6:I2S2_MCK" : 6,
"PC6:TIM3_CH1" : 2,
"PC6:TIM8_CH1" : 4,
"PC7:EVENTOUT" : 15,
"PC7:I2S3_MCK" : 6,
"PC7:TIM3_CH2" : 2,
"PC7:TIM8_CH2" : 4,
"PC8:EVENTOUT" : 15,
"PC8:I2C3_SCL" : 8,
"PC8:TIM3_CH3" : 2,
"PC8:TIM8_CH3" : 4,
"PC9:EVENTOUT" : 15,
"PC9:I2C3_SDA" : 8,
"PC9:I2S_CKIN" : 5,
"PC9:TIM3_CH4" : 2,
"PC9:TIM8_BKIN2" : 6,
"PC9:TIM8_CH4" : 4,
"PC10:EVENTOUT" : 15,
"PC10:I2S3_CK" : 6,
"PC10:SPI3_SCK" : 6,
"PC10:TIM8_CH1N" : 4,
"PC10:UART4_TX" : 5,
"PC10:USART3_TX" : 7,
"PC11:EVENTOUT" : 15,
"PC11:I2C3_SDA" : 8,
"PC11:SPI3_MISO" : 6,
"PC11:TIM8_CH2N" : 4,
"PC11:UART4_RX" : 5,
"PC11:USART3_RX" : 7,
"PC12:EVENTOUT" : 15,
"PC12:I2S3_SD" : 6,
"PC12:SPI3_MOSI" : 6,
"PC12:TIM8_CH3N" : 4,
"PC12:UCPD1_FRSTX1" : 14,
"PC12:UCPD1_FRSTX2" : 14,
"PC12:USART3_CK" : 7,
"PC13:EVENTOUT" : 15,
"PC13:TIM1_BKIN" : 2,
"PC13:TIM1_CH1N" : 4,
"PC13:TIM8_CH4N" : 6,
"PC14:EVENTOUT" : 15,
"PC15:EVENTOUT" : 15,
"PD0:EVENTOUT" : 15,
"PD0:CAN1_RX" : 9,
"PD0:TIM8_CH4N" : 6,
"PD1:EVENTOUT" : 15,
"PD1:CAN1_TX" : 9,
"PD1:TIM8_BKIN2" : 6,
"PD1:TIM8_CH4" : 4,
"PD2:EVENTOUT" : 15,
"PD2:TIM3_ETR" : 2,
"PD2:TIM8_BKIN" : 4,
"PD3:EVENTOUT" : 15,
"PD3:TIM2_CH1" : 2,
"PD3:TIM2_ETR" : 2,
"PD3:USART2_CTS" : 7,
"PD3:USART2_NSS" : 7,
"PD4:EVENTOUT" : 15,
"PD4:TIM2_CH2" : 2,
"PD4:USART2_DE" : 7,
"PD4:USART2_RTS" : 7,
"PD5:EVENTOUT" : 15,
"PD5:USART2_TX" : 7,
"PD6:EVENTOUT" : 15,
"PD6:SAI1_D1" : 3,
"PD6:SAI1_SD_A" : 13,
"PD6:TIM2_CH4" : 2,
"PD6:USART2_RX" : 7,
"PD7:EVENTOUT" : 15,
"PD7:TIM2_CH3" : 2,
"PD7:USART2_CK" : 7,
"PD8:EVENTOUT" : 15,
"PD8:USART3_TX" : 7,
"PD9:EVENTOUT" : 15,
"PD9:USART3_RX" : 7,
"PD10:EVENTOUT" : 15,
"PD10:USART3_CK" : 7,
"PD11:EVENTOUT" : 15,
"PD11:USART3_CTS" : 7,
"PD11:USART3_NSS" : 7,
"PD12:EVENTOUT" : 15,
"PD12:TIM4_CH1" : 2,
"PD12:USART3_DE" : 7,
"PD12:USART3_RTS" : 7,
"PD13:EVENTOUT" : 15,
"PD13:TIM4_CH2" : 2,
"PD14:EVENTOUT" : 15,
"PD14:TIM4_CH3" : 2,
"PD15:EVENTOUT" : 15,
"PD15:SPI2_NSS" : 6,
"PD15:TIM4_CH4" : 2,
"PE0:EVENTOUT" : 15,
"PE0:TIM16_CH1" : 4,
"PE0:TIM4_ETR" : 2,
"PE0:USART1_TX" : 7,
"PE1:EVENTOUT" : 15,
"PE1:TIM17_CH1" : 4,
"PE1:USART1_RX" : 7,
"PE2:EVENTOUT" : 15,
"PE2:SAI1_CK1" : 3,
"PE2:SAI1_MCLK_A" : 13,
"PE2:SYS_TRACECLK" : 0,
"PE2:TIM3_CH1" : 2,
"PE3:EVENTOUT" : 15,
"PE3:SAI1_SD_B" : 13,
"PE3:SYS_TRACED0" : 0,
"PE3:TIM3_CH2" : 2,
"PE4:EVENTOUT" : 15,
"PE4:SAI1_D2" : 3,
"PE4:SAI1_FS_A" : 13,
"PE4:SYS_TRACED1" : 0,
"PE4:TIM3_CH3" : 2,
"PE5:EVENTOUT" : 15,
"PE5:SAI1_CK2" : 3,
"PE5:SAI1_SCK_A" : 13,
"PE5:SYS_TRACED2" : 0,
"PE5:TIM3_CH4" : 2,
"PE6:EVENTOUT" : 15,
"PE6:SAI1_D1" : 3,
"PE6:SAI1_SD_A" : 13,
"PE6:SYS_TRACED3" : 0,
"PE7:EVENTOUT" : 15,
"PE7:SAI1_SD_B" : 13,
"PE7:TIM1_ETR" : 2,
"PE8:EVENTOUT" : 15,
"PE8:SAI1_SCK_B" : 13,
"PE8:TIM1_CH1N" : 2,
"PE9:EVENTOUT" : 15,
"PE9:SAI1_FS_B" : 13,
"PE9:TIM1_CH1" : 2,
"PE10:EVENTOUT" : 15,
"PE10:SAI1_MCLK_B" : 13,
"PE10:TIM1_CH2N" : 2,
"PE11:EVENTOUT" : 15,
"PE11:TIM1_CH2" : 2,
"PE12:EVENTOUT" : 15,
"PE12:TIM1_CH3N" : 2,
"PE13:EVENTOUT" : 15,
"PE13:TIM1_CH3" : 2,
"PE14:EVENTOUT" : 15,
"PE14:TIM1_BKIN2" : 6,
"PE14:TIM1_CH4" : 2,
"PE15:EVENTOUT" : 15,
"PE15:TIM1_BKIN" : 2,
"PE15:TIM1_CH4N" : 6,
"PE15:USART3_RX" : 7,
"PF0:EVENTOUT" : 15,
"PF0:I2C2_SDA" : 4,
"PF0:I2S2_WS" : 5,
"PF0:SPI2_NSS" : 5,
"PF0:TIM1_CH3N" : 6,
"PF1:EVENTOUT" : 15,
"PF1:I2S2_CK" : 5,
"PF1:SPI2_SCK" : 5,
"PF2:EVENTOUT" : 15,
"PF2:I2C2_SMBA" : 4,
"PF9:EVENTOUT" : 15,
"PF9:SAI1_FS_B" : 13,
"PF9:SPI2_SCK" : 5,
"PF9:TIM15_CH1" : 3,
"PF10:EVENTOUT" : 15,
"PF10:SAI1_D3" : 13,
"PF10:SPI2_SCK" : 5,
"PF10:TIM15_CH2" : 3,
"PG10:EVENTOUT" : 15,
"PG10:RCC_MCO" : 0,
}
ADC1_map = {
# format is PIN : ADC1_CHAN
"PA0" : 1,
"PA1" : 2,
"PA2" : 3,
"PA3" : 4,
"PB14" : 5,
"PC0" : 6,
"PC1" : 7,
"PC2" : 8,
"PC3" : 9,
"PF0" : 10,
"PB12" : 11,
"PB1" : 12,
"PB11" : 14,
"PB0" : 15,
}
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