mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.5 KiB
Plaintext
110 lines
2.5 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 STM32F103 STM32F103xB
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FLASH_RESERVE_START_KB 0
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FLASH_BOOTLOADER_LOAD_KB 25
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# board ID for firmware load
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APJ_BOARD_ID 1000
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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 8000000
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define STM32_SW STM32_SW_PLL
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define STM32_PLLSRC STM32_PLLSRC_HSE
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define STM32_PLLXTPRE STM32_PLLXTPRE_DIV1
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define STM32_PLLMUL_VALUE 9
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define STM32_PPRE1 STM32_PPRE1_DIV2
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define STM32_PPRE2 STM32_PPRE2_DIV2
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define STM32_ADCPRE STM32_ADCPRE_DIV4
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define CH_CFG_ST_FREQUENCY 1000
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# assume 128k flash part
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FLASH_SIZE_KB 128
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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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define HAL_USE_UART FALSE
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PA4 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 1
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# USART1
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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# USART2
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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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 CH_CFG_ST_TIMEDELTA 0
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#define CH_CFG_USE_DYNAMIC FALSE
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define SERIAL_BUFFERS_SIZE 32
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define HAL_USE_EMPTY_IO TRUE
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define PORT_INT_REQUIRED_STACK 64
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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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#defined to turn off undef warnings
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define __FPU_PRESENT 0
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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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MAIN_STACK 0x800
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PROCESS_STACK 0x800
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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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PA11 CAN_RX CAN
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PA12 CAN_TX CAN
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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.ap_periph"
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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 117
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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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# use PB6 (normally I2C1_SCL) as "hold in bootloader" pin
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# this has a hw pullup, so if we set it as input floating
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# and look for it low then we know user has pulled it down and
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# want to stay in the bootloader
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PB6 STAY_IN_BOOTLOADER INPUT FLOATING
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