ardupilot/libraries/AP_HAL_ChibiOS/hwdef/mRoCANPWM-M10126/hwdef.dat

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# mRo CAN PWM breakout
# 12x PWM / IO 3V3 logic level
# Connector options: 90deg 0.1", straight or no headers.
# External power supply for servos in solder pads.
# 1x UART port exposed in solder pads.
# Blue LEd status indicator.
# Uncased Weight and Dimensions:
# Weight: g ()
# Width: 33mm (in)
# Length: 31.3mm (in)
# Screw hole pattern: 19x25mm
# M10126A - Initial release March 2023
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MCU STM32G4xx STM32G474xx
FLASH_RESERVE_START_KB 40
FLASH_SIZE_KB 512
STORAGE_FLASH_PAGE 16
define HAL_STORAGE_SIZE 2000
# board ID for firmware load
APJ_BOARD_ID 1098
OSCILLATOR_HZ 8000000
# setup build for a peripheral firmware
env AP_PERIPH 1
# debug on USART1
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600
# order of UARTs
SERIAL_ORDER USART1
# LEDs
PB10 LED OUTPUT HIGH # blue
# USART1
PB6 USART1_TX USART1 NODMA
PB7 USART1_RX USART1 NODMA
# SWD debugging
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE
define HAL_NO_GPIO_IRQ
# avoid RCIN thread to save memory
define HAL_NO_RCIN_THREAD
define HAL_USE_RTC FALSE
#define DMA_RESERVE_SIZE 2048
define HAL_DISABLE_LOOP_DELAY
# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the bootloader at runtime
env ROMFS_UNCOMPRESSED True
define CAN_APP_NODE_NAME "io.mrobotics.mRoCANPWM-M10126"
# PWM - BIDIR config pending
PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50)
PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
PB15 TIM15_CH2 TIM15 PWM(5) GPIO(54)
PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55)
PA9 TIM1_CH2 TIM1 PWM(7) GPIO(56)
PA10 TIM1_CH3 TIM1 PWM(8) GPIO(57)
PA6 TIM3_CH1 TIM3 PWM(9) GPIO(58)
PA7 TIM3_CH2 TIM3 PWM(10) GPIO(59)
PB0 TIM3_CH3 TIM3 PWM(11) GPIO(60)
PB1 TIM3_CH4 TIM3 PWM(12) GPIO(61)
define HAL_PERIPH_ENABLE_RC_OUT
#define HAL_PERIPH_ENABLE_NOTIFY
# enable ESC control
define HAL_SUPPORT_RCOUT_SERIAL 1
define HAL_WITH_ESC_TELEM 1