mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.3 KiB
Plaintext
110 lines
2.3 KiB
Plaintext
# HW definition file for Sierra-TrueSpeed
|
|
|
|
# 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 1094
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 16000000
|
|
|
|
env AP_PERIPH 1
|
|
|
|
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
|
|
|
|
# save memory
|
|
define HAL_DISABLE_LOOP_DELAY
|
|
define HAL_GCS_ENABLED 0
|
|
define HAL_NO_MONITOR_THREAD
|
|
define HAL_NO_LOGGING
|
|
define HAL_USE_ADC FALSE
|
|
define HAL_NO_RCIN_THREAD
|
|
|
|
# we setup a small defaults.parm
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 256
|
|
|
|
# debugger support
|
|
PA13 JTMS-SWDIO SWD
|
|
PA14 JTCK-SWCLK SWD
|
|
|
|
# order of I2C buses
|
|
I2C_ORDER I2C1 I2C2
|
|
|
|
# I2C bus for magnetometer
|
|
PB13 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
# I2C bus for DLVR
|
|
PB8 I2C1_SCL I2C1
|
|
PB9 I2C1_SDA I2C1
|
|
|
|
# Mag probe
|
|
COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
|
|
|
|
# default to DLVR 10in
|
|
AIRSPEED DLVR I2C:0:0x28 10
|
|
define HAL_AIRSPEED_BUS_DEFAULT 0
|
|
define HAL_AIRSPEED_TYPE_DEFAULT 9
|
|
|
|
# ---------------------- CAN bus -------------------------
|
|
CAN_ORDER 1
|
|
|
|
PA11 CAN1_RX CAN1
|
|
PA12 CAN1_TX CAN1
|
|
PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
|
|
|
|
define HAL_CAN_POOL_SIZE 6000
|
|
|
|
# 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
|
|
|
|
# enable compass and airspeed
|
|
define HAL_PERIPH_ENABLE_MAG
|
|
define HAL_PERIPH_ENABLE_AIRSPEED
|
|
define HAL_COMPASS_MAX_SENSORS 1
|
|
define AIRSPEED_MAX_SENSORS 1
|
|
|
|
# PWM, WS2812 LED
|
|
PA2 TIM2_CH3 TIM2 PWM(1) GPIO(50)
|
|
PA3 TIM2_CH4 TIM2 PWM(2) GPIO(51)
|
|
|
|
define CAN_APP_NODE_NAME "in.sierraaerospace.TrueSpeed"
|
|
|
|
# LEDs
|
|
PA1 LED OUTPUT LOW GPIO(1)
|
|
|
|
# ---------------------- UARTs ---------------------------
|
|
SERIAL_ORDER USART1
|
|
|
|
# USART1
|
|
PA9 USART1_TX USART1 SPEED_HIGH
|
|
PA10 USART1_RX USART1 SPEED_HIGH
|