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https://github.com/ArduPilot/ardupilot
synced 2025-01-20 23:58:43 -04:00
fb5dba9d86
setting HAL_USE_CAN uses the ChibiOS CAN driver instead of the AP_HAL CAN driver. This is only used on the f103-periph as it significantly reduces the size of the bootloader, which allows for f103 builds to fit in the limited flash on all other builds we are much better off using the HAL CAN driver as it is much faster
76 lines
1.5 KiB
Plaintext
76 lines
1.5 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 STM32F4xx STM32F412Rx
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FLASH_RESERVE_START_KB 0
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# two sectors for bootloader, two for storage
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FLASH_BOOTLOADER_LOAD_KB 64
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# board ID for firmware load
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APJ_BOARD_ID 81
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# assume 512k flash part
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FLASH_SIZE_KB 512
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STDOUT_SERIAL SD2
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STDOUT_BAUDRATE 57600
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# order of UARTs
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SERIAL_ORDER
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# use safety button to stay in bootloader
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PB15 STAY_IN_BOOTLOADER INPUT PULLDOWN
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define HAL_STAY_IN_BOOTLOADER_VALUE 1
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PA10 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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# USART2
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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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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define HAL_USE_SERIAL TRUE
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define STM32_SERIAL_USE_USART1 FALSE
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define STM32_SERIAL_USE_USART2 TRUE
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define STM32_SERIAL_USE_USART3 FALSE
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define HAL_NO_GPIO_IRQ
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define HAL_USE_EMPTY_IO TRUE
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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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define DMA_RESERVE_SIZE 0
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define HAL_DISABLE_LOOP_DELAY
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# enable CAN support
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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PB12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PB13 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "org.ardupilot.ARK_GPS"
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# make bl baudrate match debug baudrate for easier debugging
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define BOOTLOADER_BAUDRATE 57600
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# use a small bootloader timeout
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define HAL_BOOTLOADER_TIMEOUT 1000
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# Add CS pins to ensure they are high in bootloader
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PB0 IMU_CS CS
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