mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
124 lines
2.4 KiB
Plaintext
124 lines
2.4 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 STM32L476 STM32L476xx
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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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# store parameters in pages 18 and 19
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define STORAGE_FLASH_PAGE 18
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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 1051
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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 0
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# assume the 256k flash part
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FLASH_SIZE_KB 256
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# order of UARTs
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SERIAL_ORDER USART1
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define HAL_CAN_POOL_SIZE 6000
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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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# status LED
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PA5 LED OUTPUT LOW GPIO(1)
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define HAL_LED_ON 1
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# spi bus for IMU
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# one I2C bus. Pullups added to avoid having to add pullup resistors.
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# on production boards correct pullups are needed (between 1k and 2k Ohm)
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# and the pullup keyword omitted to use open drain
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PB10 I2C2_SCL I2C2 PULLUP
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PB11 I2C2_SDA I2C2 PULLUP
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I2C_ORDER I2C2
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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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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 2048
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define PERIPH_FW TRUE
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# stack for fast interrupts
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define PORT_INT_REQUIRED_STACK 64
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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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define HAL_DISABLE_LOOP_DELAY
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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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CAN_ORDER 1
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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PA4 VSENSE ADC1 SCALE(2)
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define HAL_NO_GCS
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define HAL_NO_MONITOR_THREAD
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define HAL_MINIMIZE_FEATURES 0
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define HAL_BUILD_AP_PERIPH
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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# use the app descriptor needed by MissionPlanner for CAN upload
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env APP_DESCRIPTOR MissionPlanner
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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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# use DNA
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define HAL_CAN_DEFAULT_NODE_ID 0
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define CAN_APP_NODE_NAME "org.ardupilot.Nucleo-L476"
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_GPS_PORT_DEFAULT 0
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define HAL_PERIPH_ENABLE_MAG
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_PERIPH_ENABLE_BARO
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define HAL_PERIPH_ENABLE_AIRSPEED
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