ardupilot/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc

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# hw definition file for Matek L431 CAN node
# MCU class and specific type
MCU STM32L431 STM32L431xx
# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 40
FLASH_SIZE_KB 256
# store parameters in pages 18 and 19
STORAGE_FLASH_PAGE 18
define HAL_STORAGE_SIZE 800
# ChibiOS system timer
STM32_ST_USE_TIMER 15
define CH_CFG_ST_RESOLUTION 16
# board ID for firmware load
APJ_BOARD_ID 1062
# crystal frequency
OSCILLATOR_HZ 8000000
env AP_PERIPH 1
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600
define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64
define DMA_RESERVE_SIZE 0
# MAIN_STACK is stack for ISR handlers
MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00
# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 512
# blue LED0 marked as ACT
PB3 LED OUTPUT HIGH
define HAL_LED_ON 1
# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# --------------------- SPI1 RM3100 -----------------------
PA5 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 MAG_CS CS
PB2 SPARE_CS CS
# ---------------------- I2C bus ------------------------
I2C_ORDER I2C2
PB13 I2C2_SCL I2C2
PB14 I2C2_SDA I2C2
define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 1
# ---------------------- CAN bus -------------------------
CAN_ORDER 1
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_CAN_POOL_SIZE 6000
# ---------------------- UARTs ---------------------------
# | sr0 | MSP | GPS |
SERIAL_ORDER USART1 USART2 USART3
# USART1 for debug
PB6 USART1_TX USART1 SPEED_HIGH
PB7 USART1_RX USART1 SPEED_HIGH
# USART2 for MSP
PA2 USART2_TX USART2 SPEED_HIGH
PA3 USART2_RX USART2 SPEED_HIGH
# USART3 for GPS
PB10 USART3_TX USART3 SPEED_HIGH NODMA
PB11 USART3_RX USART3 SPEED_HIGH NODMA
# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the bootloader at runtime
env ROMFS_UNCOMPRESSED True
define HAL_RCIN_THREAD_ENABLED 1