mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.4 KiB
Plaintext
110 lines
2.4 KiB
Plaintext
# MCU class and specific type
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MCU STM32L431 STM32L431xx
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# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 40
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FLASH_SIZE_KB 256
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# store parameters in pages 18 and 19
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STORAGE_FLASH_PAGE 18
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define HAL_STORAGE_SIZE 800
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# ChibiOS system timer
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STM32_ST_USE_TIMER 15
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define CH_CFG_ST_RESOLUTION 16
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# board ID for firmware load
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APJ_BOARD_ID 1109
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# crystal frequency
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OSCILLATOR_HZ 8000000
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env AP_PERIPH 1
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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define HAL_NO_GPIO_IRQ
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define SERIAL_BUFFERS_SIZE 512
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define PORT_INT_REQUIRED_STACK 64
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define DMA_RESERVE_SIZE 0
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# MAIN_STACK is stack for ISR handlers
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MAIN_STACK 0x300
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# PROCESS_STACK controls stack for main thread
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PROCESS_STACK 0xA00
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define HAL_NO_MONITOR_THREAD
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# we setup a small defaults.parm
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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# blue LED0 marked as ACT
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PB3 LED OUTPUT HIGH
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define HAL_LED_ON 1
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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# I2C bus
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I2C_ORDER I2C2
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PB13 I2C2_SCL I2C2
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PB14 I2C2_SDA I2C2
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_I2C_INTERNAL_MASK 1
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# CAN bus
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CAN_ORDER 1
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define HAL_CAN_POOL_SIZE 12000
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# UARTs
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SERIAL_ORDER USART1 EMPTY EMPTY
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# USART1
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PB6 USART1_TX USART1 SPEED_HIGH
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PB7 USART1_RX USART1 SPEED_HIGH
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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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# 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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# enable GPS and compass
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define HAL_PERIPH_ENABLE_GPS
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define GPS_MAX_RATE_MS 200
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_PERIPH_GPS_PORT_DEFAULT 0
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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 HAL_PERIPH_ENABLE_MAG
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define HAL_COMPASS_MAX_SENSORS 1
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# QMC5883L for different board varients
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COMPASS QMC5883L I2C:0:0xd false ROTATION_YAW_180
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# no ADC pins
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define HAL_USE_ADC FALSE
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# disable unnecessary threads
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define HAL_NO_MONITOR_THREAD
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define HAL_NO_TIMER_THREAD
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# enable LED
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define HAL_PERIPH_ENABLE_RC_OUT
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define HAL_PERIPH_ENABLE_NOTIFY
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#GPIO LED
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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PB2 LED_RED OUTPUT OPENDRAIN HIGH GPIO(0)
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PB4 LED_GREEN OUTPUT OPENDRAIN LOW GPIO(1)
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PB5 LED_BLUE OUTPUT OPENDRAIN LOW GPIO(2)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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