# hw definition file for processing by chibios_pins.py # MCU class and specific type AUTOBUILD_TARGETS None # MCU class and specific type MCU STM32G4xx STM32G491xx FLASH_RESERVE_START_KB 36 STORAGE_FLASH_PAGE 16 define HAL_STORAGE_SIZE 800 # board ID for firmware load APJ_BOARD_ID 1103 # setup build for a peripheral firmware env AP_PERIPH 1 # crystal frequency OSCILLATOR_HZ 16000000 define CH_CFG_ST_FREQUENCY 1000000 FLASH_SIZE_KB 512 # order of UARTs SERIAL_ORDER USART2 # sensor power control PA4 VDD_3V3_SENSORS_EN OUTPUT HIGH # LEDs PA0 LED_RED OUTPUT LOW GPIO(0) PA2 LED_GREEN OUTPUT LOW GPIO(1) PA1 LED_BLUE OUTPUT LOW GPIO(2) PA3 LED_SAFETY OUTPUT LOW define HAL_GPIO_A_LED_PIN 0 define HAL_GPIO_B_LED_PIN 1 define HAL_GPIO_C_LED_PIN 2 define HAL_GPIO_LED_ON 1 define HAL_GPIO_LED_OFF 0 define HAL_HAVE_PIXRACER_LED # USART2, GPS PB3 USART2_TX USART2 PB4 USART2_RX USART2 # USART1, debug, disabled to save flash #PB6 USART1_TX USART1 #PB7 USART1_RX USART1 # SWD debugging PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # I2C2 bus PA8 I2C2_SDA I2C2 PA9 I2C2_SCL I2C2 define HAL_I2C_INTERNAL_MASK 1 # I2C buses I2C_ORDER I2C2 # one SPI bus PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 # SPI CS PB0 MAG_CS CS # GPS PPS PA10 GPS_PPS_IN INPUT # SPI devices SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE3 2*MHZ 8*MHZ # compass COMPASS RM3100 SPI:rm3100 false ROTATION_NONE # baro BARO BMP388 I2C:0:0x77 define HAL_USE_ADC FALSE define STM32_ADC_USE_ADC1 FALSE define HAL_DISABLE_ADC_DRIVER TRUE define HAL_NO_GPIO_IRQ # avoid RCIN thread to save memory define HAL_NO_RCIN_THREAD define HAL_USE_RTC FALSE define DISABLE_SERIAL_ESC_COMM TRUE define DMA_RESERVE_SIZE 0 define HAL_DISABLE_LOOP_DELAY # enable CAN support PA11 CAN1_RX CAN1 PA12 CAN1_TX CAN1 PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW define HAL_NO_MONITOR_THREAD define HAL_DEVICE_THREAD_STACK 768 # we setup a small defaults.parm define AP_PARAM_MAX_EMBEDDED_PARAM 256 # disable dual GPS and GPS blending to save flash space define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_COMPASS_MAX_SENSORS 1 # add support for moving baseline yaw define GPS_MOVING_BASELINE 1 # GPS+MAG+BARO+LEDs define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_NOTIFY define HAL_PERIPH_ENABLE_RC_OUT # single baro define BARO_MAX_INSTANCES 1 # GPS on 1st port define HAL_PERIPH_GPS_PORT_DEFAULT 0 # keep ROMFS uncompressed as we don't have enough RAM # to uncompress the bootloader at runtime env ROMFS_UNCOMPRESSED True