mirror of https://github.com/ArduPilot/ardupilot
82 lines
1.5 KiB
Plaintext
82 lines
1.5 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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FLASH_RESERVE_START_KB 0
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FLASH_BOOTLOADER_LOAD_KB 32
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# reserve some space for params
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APP_START_OFFSET_KB 4
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# 128k flash part
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FLASH_SIZE_KB 256
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# board ID for firmware load
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APJ_BOARD_ID 1103
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# debug on USART1
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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# order of UARTs
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SERIAL_ORDER USART1
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# blue LED
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PA1 LED_BOOTLOADER OUTPUT HIGH
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define HAL_LED_ON 1
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PA0 LED_RED OUTPUT LOW
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PA2 LED_GREEN OUTPUT LOW
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PA3 LED_SAFETY OUTPUT LOW
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PA4 VDD_3V3_SENSORS_EN OUTPUT LOW
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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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# 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 FALSE
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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 DMA_RESERVE_SIZE 0
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define HAL_DISABLE_LOOP_DELAY
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# enable CAN support
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "org.ardupilot.rGNSS"
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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 smaller bootloader timeout
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define HAL_BOOTLOADER_TIMEOUT 2500
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# Add CS pins to ensure they are high in bootloader
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PB0 MAG_CS CS
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