mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
28d827cedc
this re-adds support for RTC into GPS peripherals that also log. This was removed as these boards were calling methods on the nullptr
157 lines
3.3 KiB
Plaintext
157 lines
3.3 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Sierra-F9P Firmware
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# MCU class and specific type
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MCU STM32F4xx STM32F412Rx
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# bootloader starts firmware at 64k
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FLASH_RESERVE_START_KB 64
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# store parameters in pages 2 and 3
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STORAGE_FLASH_PAGE 2
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define HAL_STORAGE_SIZE 8192
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# board ID for firmware load
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APJ_BOARD_ID 1034
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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STM32_ST_USE_TIMER 5
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# enable watchdog
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define HAL_WATCHDOG_ENABLED_DEFAULT true
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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# Available Flash
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FLASH_SIZE_KB 1024
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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# order of UARTs
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SERIAL_ORDER USART1 EMPTY EMPTY USART2
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# USART1 for debug
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PA9 USART1_TX USART1 NODMA
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PA10 USART1_RX USART1 NODMA
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define DEFAULT_SERIAL0_BAUD 57600
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# USART2 for GPS
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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# SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# only one I2C bus in normal config
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PB7 I2C1_SDA I2C1
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PB6 I2C1_SCL I2C1
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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_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 0
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# only one I2C bus
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I2C_ORDER I2C1
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# only one SPI bus in normal config
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI CS
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#PC6 ICM_CS CS
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PC12 BARO_CS CS
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# SPI devices
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# ToDo SPI devices
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#SPIDEV icm20948 SPI1 DEVID1 MPU_CS MODE3 4*MHZ 8*MHZ
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SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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# Compass
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
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# Baro
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BARO DPS310 SPI:dps310
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# PWM output for buzzer
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PB5 TIM3_CH2 TIM3 GPIO(77) LOW ALARM
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# WS2812 LEDs
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PA15 TIM2_CH1 TIM2 PWM(1)
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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#define HAL_DISABLE_ADC_DRIVER TRUE
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PA0 VSENSE ADC1 SCALE(2)
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define HAL_NO_GPIO_IRQ
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# avoid RCIN thread to save memory
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define HAL_NO_RCIN_THREAD
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define HAL_USE_RTC TRUE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define DMA_RESERVE_SIZE 0
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define HAL_DISABLE_LOOP_DELAY
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define PERIPH_FW TRUE
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define HAL_NO_MONITOR_THREAD
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define HAL_BUILD_AP_PERIPH
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define HAL_DEVICE_THREAD_STACK 768
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 256
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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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# GPS+MAG+BARO+Buzzer+NeoPixels
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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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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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define CONFIGURE_PPS_PIN TRUE
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define GPS_MOVING_BASELINE 1
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# Logging
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define HAL_LOGGING_ENABLED 1
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define HAL_PERIPH_ENABLE_RTC 1
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define HAL_OS_FATFS_IO 1
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# SD Card pins
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PC8 SDIO_D0 SDIO
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PC9 SDIO_D1 SDIO
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PC10 SDIO_D2 SDIO
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PC11 SDIO_D3 SDIO
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PB15 SDIO_CK SDIO
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PD2 SDIO_CMD SDIO
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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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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#Sensors Enable & ESP Enable
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PB0 VDD_3V3_SENSORS_EN OUTPUT HIGH
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PC2 ESP_PWR_EN OUTPUT LOW
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# bootloader embedding / bootloader flashing not available
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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