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https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -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
81 lines
1.6 KiB
Plaintext
81 lines
1.6 KiB
Plaintext
# hw definition for Sierra-F405 node
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# Sierra-M9N Bootloader
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# hw definition file for processing by chibios_pins.py
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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 1052
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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 available
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FLASH_SIZE_KB 1024
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# Enable the sensor voltage pin
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PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH
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# order of UARTs
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SERIAL_ORDER
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# USART1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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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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# enable CAN support
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PA11 CAN1_RX CAN1
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PA12 CAN1_TX CAN1
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define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F405"
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# use DNA
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define HAL_CAN_DEFAULT_NODE_ID 0
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# reserve 256 bytes for comms between app and bootloader
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RAM_RESERVE_START 256
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# Add CS pins to ensure they are high in bootloader
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PB12 MAG_CS CS
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PA8 BARO_CS CS
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STDOUT_SERIAL SD1
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STDOUT_BAUDRATE 57600
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define HAL_USE_SERIAL TRUE
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define STM32_SERIAL_USE_USART1 TRUE
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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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# 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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