mirror of https://github.com/ArduPilot/ardupilot
161 lines
3.2 KiB
Plaintext
161 lines
3.2 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 STM32F303 STM32F303xC
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# bootloader starts firmware at 26k
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FLASH_RESERVE_START_KB 26
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# store parameters in pages 11 and 12
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STORAGE_FLASH_PAGE 11
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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 1016
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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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# crystal frequency
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OSCILLATOR_HZ 24000000
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define CH_CFG_ST_FREQUENCY 100000
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define CH_CFG_ST_TIMEDELTA 0
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# assume the 256k flash part for now
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FLASH_SIZE_KB 256
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# order of UARTs
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SERIAL_ORDER USART2 EMPTY EMPTY USART3
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define HAL_CAN_POOL_SIZE 6000
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STDOUT_SERIAL SD2
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STDOUT_BAUDRATE 57600
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# USART2, debug
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PA2 USART2_TX USART2 SPEED_HIGH NODMA
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PA3 USART2_RX USART2 SPEED_HIGH NODMA
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# USART3 for GPS
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PB10 USART3_TX USART3 SPEED_HIGH NODMA
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PB11 USART3_RX USART3 SPEED_HIGH NODMA
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# only one I2C bus in normal config, no external pullup
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PA15 I2C1_SCL I2C1 PULLUP
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PB7 I2C1_SDA I2C1 PULLUP
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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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# spi bus, unused
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PB3 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PB5 SPI1_MOSI SPI1
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# single rm3100 mag on I2C
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COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE
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COMPASS RM3100 I2C:0:0x21 false ROTATION_NONE
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COMPASS RM3100 I2C:0:0x22 false ROTATION_NONE
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COMPASS RM3100 I2C:0:0x23 false ROTATION_NONE
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# single MS5611 baro on I2C
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BARO MS56XX I2C:0:0x77
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# analog input
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# PA5 VIN5 ADC1
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define HAL_USE_ADC FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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# avoid timer and RCIN threads to save memory
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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 DMA_RESERVE_SIZE 0
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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 CAN_RX CAN
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PB9 CAN_TX CAN
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PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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define HAL_UART_MIN_TX_SIZE 256
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define HAL_UART_MIN_RX_SIZE 128
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define HAL_UART_STACK_SIZE 0x200
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define HAL_NO_MONITOR_THREAD
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# only one I2C bus
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I2C_ORDER I2C1
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_DEVICE_THREAD_STACK 0x200
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define STORAGE_THD_WA_SIZE 512
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define IO_THD_WA_SIZE 512
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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define HAL_I2C_INTERNAL_MASK 1
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# reset for GPS
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PB6 nGNSS_RESET OUTPUT HIGH GPIO(73)
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# use LOG_BTN to start Mosaic logging
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PA5 LOG_BTN INPUT FLOATING GPIO(74)
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# a LED to flash for CAN activity
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PA6 LED OUTPUT LOW
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# I2C activity LED
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PA7 LED_BUS_I2C OUTPUT LOW
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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define HAL_PERIPH_ENABLE_BARO
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# septentrio on com 3
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define HAL_GPS_TYPE_DEFAULT 10
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define HAL_GPS_COM_PORT_DEFAULT 3
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define GPS_SBF_STREAM_NUMBER 3
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define GPS_SBF_EXTRA_CONFIG "sdfa, DSK1, DeleteOldest", "sfn, DSK1, Incremental, Mosaic", "sfno, off"
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