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https://github.com/ArduPilot/ardupilot
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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
79 lines
1.6 KiB
Plaintext
79 lines
1.6 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# hardware repository: https://github.com/FlyfocusUAV/Bird-CANdy
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# MCU class and specific type
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# note: the device is STM32F412CE, not all F412 pins are available
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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 1044
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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 16000000
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define CH_CFG_ST_FREQUENCY 1000000
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FLASH_SIZE_KB 512
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STDOUT_SERIAL SD6
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STDOUT_BAUDRATE 57600
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# order of UARTs
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SERIAL_ORDER
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# CANdy pin 19
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PA5 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 1
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# CANdy pins 15, 16
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# USART6
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PA11 USART6_TX USART6
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PA12 USART6_RX USART6
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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 FALSE
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define STM32_SERIAL_USE_USART3 FALSE
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define STM32_SERIAL_USE_USART4 FALSE
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define STM32_SERIAL_USE_USART5 FALSE
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define STM32_SERIAL_USE_USART6 TRUE
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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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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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define CAN_APP_NODE_NAME "org.ardupilot.birdcandy"
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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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