mirror of https://github.com/ArduPilot/ardupilot
107 lines
2.2 KiB
PHP
107 lines
2.2 KiB
PHP
# hw definition file for Matek L431 CAN node
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# MCU class and specific type
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MCU STM32L431 STM32L431xx
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# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 40
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FLASH_SIZE_KB 256
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# store parameters in pages 18 and 19
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STORAGE_FLASH_PAGE 18
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define HAL_STORAGE_SIZE 800
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# ChibiOS system timer
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STM32_ST_USE_TIMER 15
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define CH_CFG_ST_RESOLUTION 16
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# board ID for firmware load
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APJ_BOARD_ID 1062
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# crystal frequency
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OSCILLATOR_HZ 8000000
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env AP_PERIPH 1
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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define DMA_RESERVE_SIZE 0
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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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define HAL_GCS_ENABLED 0
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define HAL_NO_MONITOR_THREAD
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define HAL_NO_LOGGING
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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# blue LED0 marked as ACT
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PB3 LED OUTPUT HIGH
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define HAL_LED_ON 1
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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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# --------------------- SPI1 RM3100 -----------------------
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA4 MAG_CS CS
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PB2 SPARE_CS CS
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# ---------------------- I2C bus ------------------------
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I2C_ORDER I2C2
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PB13 I2C2_SCL I2C2
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PB14 I2C2_SDA I2C2
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 1
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# ---------------------- CAN bus -------------------------
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CAN_ORDER 1
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define HAL_CAN_POOL_SIZE 6000
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# ---------------------- UARTs ---------------------------
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# | sr0 | MSP | GPS |
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SERIAL_ORDER USART1 USART2 USART3
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# USART1 for debug
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PB6 USART1_TX USART1 SPEED_HIGH
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PB7 USART1_RX USART1 SPEED_HIGH
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# USART2 for MSP
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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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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# allow for reboot command for faster development
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
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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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