mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.2 KiB
Plaintext
109 lines
2.2 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_VERSION_MAJOR 1
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define CAN_APP_VERSION_MINOR 0
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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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