mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -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
147 lines
3.2 KiB
Plaintext
147 lines
3.2 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# Sierra-PrecisionPoint
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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 1095
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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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# crystal frequency
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OSCILLATOR_HZ 16000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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# USB
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PA11 USB_FS_DM OTG1
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PA12 USB_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# USB setup
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USB_STRING_MANUFACTURER "Sierra Aerospace"
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USB_STRING_PRODUCT "Sierra-PrecisionPoint"
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# order of UARTs
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SERIAL_ORDER OTG1 USART1 USART2
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# USART1 for debug
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PB6 USART1_TX USART1 NODMA
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PB7 USART1_RX USART1 NODMA
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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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# GPS on 2nd port
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define HAL_PERIPH_GPS_PORT_DEFAULT 1
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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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# Add CS pins
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PC0 RM3100_CS CS
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PC1 DPS310_CS CS
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PC4 ICM42688_CS CS
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# --------------------- SPI1 ICM42688 -----------------------
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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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PC5 ICM42688_DRDY INPUT
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SPIDEV icm42688 SPI1 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
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# SPI1 FSYNC for ICM42688p
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# PB0 TIM3_CH3 TIM3
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# --------------------- SPI2 DPS310+RM3100 -----------------------
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PB10 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# Baro probe
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SPIDEV dps310 SPI2 DEVID2 DPS310_CS MODE3 5*MHZ 5*MHZ
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BARO DPS310 SPI:dps310
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# Mag probe
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SPIDEV rm3100 SPI2 DEVID1 RM3100_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
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# define AP_RM3100_REVERSAL_MASK 7
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# WS2812 LEDs
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PA15 TIM2_CH1 TIM2 PWM(1)
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# Board voltage ADC
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define HAL_USE_ADC TRUE
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PA0 VDD_5V_SENS ADC1 SCALE(2)
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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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PB13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB14 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "in.sierraaerospace.PrecisionPoint"
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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+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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# PB5 GPS_PPS INPUT FLOATING GPIO(6)
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# define CONFIGURE_PPS_PIN TRUE
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# define HAL_GPIO_PPS 6
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# PB4 F9P_TX_READY INPUT
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# allow for F9P GPS modules with moving baseline
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define GPS_MOVING_BASELINE 1
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define GPS_MAX_RATE_MS 200
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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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PC12 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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# USB select
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PC6 USB_SEL OUTPUT PUSHPULL SPEED_LOW HIGH
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