mirror of https://github.com/ArduPilot/ardupilot
147 lines
2.9 KiB
Plaintext
147 lines
2.9 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 STM32F103 STM32F103xB
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# bootloader starts firmware at 23k + 2k (STORAGE_FLASH_PAGES)
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FLASH_RESERVE_START_KB 25
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# store parameters in pages 23 and 24
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define STORAGE_FLASH_PAGE 23
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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 1000
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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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define HAL_WATCHDOG_ENABLED_DEFAULT true
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define CH_CFG_ST_FREQUENCY 1000
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# assume the 128k flash part for now
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FLASH_SIZE_KB 128
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# order of UARTs
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SERIAL_ORDER EMPTY EMPTY EMPTY USART1
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# a LED to flash
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PA4 LED OUTPUT LOW
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# USART1, connected to GPS
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PA9 USART1_TX USART1 SPEED_HIGH NODMA
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PA10 USART1_RX USART1 SPEED_HIGH NODMA
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# USART2 for debug (disabled)
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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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define HAL_UART_NODMA
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# only one I2C bus in normal config
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PB0 MAG_CS CS
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# spi bus for compass
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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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# analog input
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# PA5 VIN5 ADC1
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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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define HAL_NO_GPIO_IRQ
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define CH_CFG_ST_TIMEDELTA 0
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#define CH_CFG_USE_DYNAMIC FALSE
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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# avoid timer and RCIN threads to save memory
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define HAL_NO_TIMER_THREAD
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define HAL_NO_RCIN_THREAD
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#defined to turn off undef warnings
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define __FPU_PRESENT 0
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define HAL_USE_RTC FALSE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 0
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define PERIPH_FW TRUE
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# MAIN_STACK is stack of initial thread
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MAIN_STACK 0x80
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# PROCESS_STACK controls stack for main thread
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PROCESS_STACK 0x600
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define HAL_DISABLE_LOOP_DELAY
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# enable CAN support
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PA11 CAN_RX CAN
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PA12 CAN_TX CAN
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# reduce memory overheads
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define HAL_CAN_POOL_SIZE 2500
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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 128
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define HAL_UART_MIN_RX_SIZE 128
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define HAL_UART_STACK_SIZE 256
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define STORAGE_THD_WA_SIZE 256
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define IO_THD_WA_SIZE 256
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define HAL_NO_GCS
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define HAL_NO_LOGGING
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define HAL_NO_MONITOR_THREAD
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define HAL_MINIMIZE_FEATURES 0
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define HAL_BUILD_AP_PERIPH
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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 256
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define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_I2C_INTERNAL_MASK 0
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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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define HAL_WITH_DSP FALSE
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# use the app descriptor needed by MissionPlanner for CAN upload
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env APP_DESCRIPTOR MissionPlanner
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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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# 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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# reduce the number of CAN RX Buffer
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define HAL_CAN_RX_QUEUE_SIZE 32 |