ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat

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# hw definition file for processing by chibios_pins.py
# Sierra RM3100 & Airspeed common hwdef
# MCU class and specific type
MCU STM32L431 STM32L431xx
# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 40
# 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 1050
# setup build for a peripheral firmware
env AP_PERIPH 1
# crystal frequency
OSCILLATOR_HZ 16000000
# Flash available
FLASH_SIZE_KB 256
define HAL_CAN_POOL_SIZE 6000
# LEDs
PA15 LED OUTPUT LOW GPIO(1)
STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600
# order of UARTs
SERIAL_ORDER USART1
# USART1
PA9 USART1_TX USART1 SPEED_HIGH NODMA
PA10 USART1_RX USART1 SPEED_HIGH NODMA
define SERIAL_BUFFERS_SIZE 512
# SPI1 bus for RM3100
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PB12 MAG_CS CS
# compass
SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
# MS4525DO Airspeed
PB6 I2C1_SCL I2C1
PB7 I2C1_SDA I2C1
define HAL_I2C_CLEAR_ON_TIMEOUT 0
define HAL_I2C_INTERNAL_MASK 1
I2C_ORDER I2C1
# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
define HAL_NO_GPIO_IRQ
define DMA_RESERVE_SIZE 0
# stack for fast interrupts
define PORT_INT_REQUIRED_STACK 64
# MAIN_STACK is stack for ISR handlers
MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00
# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
CAN_ORDER 1
define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
PA0 VDD_5V_SENS ADC1 SCALE(2)
define AP_PARAM_MAX_EMBEDDED_PARAM 512
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_AIRSPEED
define AIRSPEED_MAX_SENSORS 1
define HAL_AIRSPEED_TYPE_DEFAULT 1
# 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