mirror of https://github.com/ArduPilot/ardupilot
151 lines
2.8 KiB
Plaintext
151 lines
2.8 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 STM32G474 STM32G474xx
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# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 30
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# store parameters in pages 13 and 14
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STORAGE_FLASH_PAGE 13
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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 1027
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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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# use TIM5 to leave TIM2 for LED
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STM32_ST_USE_TIMER 5
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# assume the 512k flash part
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FLASH_SIZE_KB 512
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# order of UARTs
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SERIAL_ORDER USART1
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define HAL_CAN_POOL_SIZE 6000
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# USART1, telemetry
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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# LEDs
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PB10 LED OUTPUT LOW
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#PB9 LED_R OUTPUT LOW
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PB7 LED_G OUTPUT LOW
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PA12 LED_B OUTPUT LOW
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# a fault LED
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PA1 LED_FAULT OUTPUT LOW
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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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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# spi bus for IMU
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PB12 IMU_CS CS
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# accel interrupts
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PB1 ACCEL_INT1 INPUT GPIO(70)
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PB2 ACCEL_INT2 INPUT GPIO(71)
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SPIDEV adxl327 SPI2 DEVID2 IMU_CS MODE3 2*MHZ 8*MHZ
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# sensing motor position
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PC11 HALL_A INPUT GPIO(90)
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PC10 HALL_B INPUT GPIO(91)
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PA2 HALL_C INPUT GPIO(92)
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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# define STM32_ADC_USE_ADC2 TRUE
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#PA4 VSENSE50 ADC2 SCALE(18.39416)
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#PA5 VSENSE3v3 ADC2 SCALE(1)
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PB11 BAT_CURR_SENS ADC1 SCALE(1)
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# ESC interrupt
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PC6 ESC_INT INPUT
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define DMA_RESERVE_SIZE 2048
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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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# enable CAN support
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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PB0 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PA7 GPIO_CAN2_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW
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# 2nd CAN interface
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PB3 CAN3_RX CAN3
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PB4 CAN3_TX CAN3
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PC4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PA6 GPIO_CAN3_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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CAN_ORDER 2 3
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# DShot output
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PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)
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# LED on timer
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PA15 TIM2_CH1 TIM2 PWM(2) GPIO(51)
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define HAL_PERIPH_ENABLE_RC_OUT
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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_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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# 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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# don't share any DMA channels (there are enough for everyone)
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DMA_NOSHARE *
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define HAL_SERIAL_ESC_COMM_ENABLED 1
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define HAL_RCIN_THREAD_ENABLED 1
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