9a21297cd1
set timer counter size to be a byte wide use HAL_DSHOT_ENABLED instead of DISABLE_DSHOT build iomcu-dshot from existing iomcu correct defines for DMAR size on iomcu allow iomcu dshot rate to be configured from FMU correct DMA allocation for dshot on iomcu allow debug builds on iofirmware ensure dshot is enabled on iomcu dshot support proper iomcu dshot output thread triggered by FMU allow selective disablement of serial LEDs and passthrough disable serial LEDs and passthrough on iomcu-dshot propagate ESC telemetry to iomcu dshot_send_groups() for iomcu remove use of ICU on iomcu for dshot. only allocate possible DMA channels rename serial passthrough and dshot defines update dshot docs resize dshot iomcu main stack to minimum correct dshot prescaler usage and bit_width_mul calculation use ChibiOS in tickless mode on iomcu-dshot so that virtual timers can be used propagate dshot commands to iomcu passthrough oneshot125 to iomcu
156 lines
3.8 KiB
Plaintext
156 lines
3.8 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 STM32F103 STM32F103xB
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FLASH_RESERVE_START_KB 4
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# board ID for firmware load
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APJ_BOARD_ID 3
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# crystal frequency
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OSCILLATOR_HZ 8000000
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define CH_CFG_ST_FREQUENCY 1000
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FLASH_SIZE_KB 128
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# ChibiOS system timer
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# order of UARTs
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SERIAL_ORDER EMPTY EMPTY EMPTY EMPTY
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define HAL_USE_UART TRUE
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# UART connected to FMU, uses DMA
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PA2 USART2_TX USART2 SPEED_HIGH
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PA3 USART2_RX USART2 SPEED_HIGH
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define STM32_UART_USE_USART1 FALSE
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define STM32_UART_USE_USART2 TRUE
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define STM32_UART_USE_USART3 FALSE
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# UART for SBUS out, and RC in, no DMA
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define HAL_USE_SERIAL TRUE
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PB4 SBUS_OUT_EN OUTPUT LOW GPIO(1)
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PB10 USART3_TX USART3 SPEED_HIGH LOW
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PB11 USART3_RX USART3
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define STM32_SERIAL_USE_USART1 TRUE
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define STM32_SERIAL_USE_USART2 FALSE
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define STM32_SERIAL_USE_USART3 TRUE
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(101)
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(102)
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PB8 TIM4_CH3 TIM4 PWM(3) GPIO(103)
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PB9 TIM4_CH4 TIM4 PWM(4) GPIO(104)
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PA6 TIM3_CH1 TIM3 PWM(5) GPIO(105)
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PA7 TIM3_CH2 TIM3 PWM(6) GPIO(106)
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PB0 TIM3_CH3 TIM3 PWM(7) GPIO(107)
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PB1 TIM3_CH4 TIM3 PWM(8) GPIO(108)
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# pins for detecting board type. On a pixhawk2 PC14 is pulled high,
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# PC15 is pulled low. On a Pixhawk1 they are both floating
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PC14 IO_HW_DETECT1 INPUT PULLDOWN
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PC15 IO_HW_DETECT2 INPUT PULLUP
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PB14 HEATER INPUT PULLUP GPIO(0)
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# safety button and LED. These do not use the same names
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# as those for FMU-only boards as we want to handle them specially
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# inside the iofirmware
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PB5 SAFETY_INPUT INPUT PULLDOWN
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PB13 SAFETY_LED OUTPUT HIGH OPENDRAIN
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# amber LED
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PB15 AMBER_LED OUTPUT LOW OPENDRAIN
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# green ring LED on cube
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PA11 RING_LED OUTPUT LOW OPENDRAIN
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# UART for DSM input
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# TX side is for IO debug, and is unused
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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PC13 SPEKTRUM_PWR_EN OUTPUT LOW
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define HAL_GPIO_PIN_SPEKTRUM_OUT PAL_LINE(GPIOA,10U)
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PA8 RCIN INPUT SPEED_HIGH PULLDOWN # RC Input PPM
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# analog inputs
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PA4 VSERVO ADC1
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PA5 VRSSI ADC1
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define HAL_ADC_VSERVO_CHAN ADC_CHANNEL_IN4
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define HAL_ADC_VRSSI_CHAN ADC_CHANNEL_IN5
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define HAL_USE_ADC TRUE
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define STM32_ADC_USE_ADC1 TRUE
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define HAL_DISABLE_ADC_DRIVER TRUE
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#Manually define ICU settings
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define HAL_USE_ICU TRUE
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define STM32_ICU_USE_TIM1 TRUE
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define RCIN_ICU_TIMER ICUD1
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define RCIN_ICU_CHANNEL ICU_CHANNEL_1
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define STM32_RCIN_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
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#DMA Channel Not relevant for F1 series
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define STM32_RCIN_DMA_CHANNEL 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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define HAL_INS_DEFAULT HAL_INS_NONE
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define HAL_BARO_DEFAULT HAL_BARO_NONE
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define HAL_NO_GPIO_IRQ
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define CH_CFG_ST_TIMEDELTA 0
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#define CH_CFG_USE_DYNAMIC FALSE
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define SERIAL_BUFFERS_SIZE 32
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define HAL_USE_EMPTY_IO TRUE
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define PORT_INT_REQUIRED_STACK 64
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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 HAL_NO_MONITOR_THREAD
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define HAL_NO_RCOUT_THREAD
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define AP_HAL_SHARED_DMA_ENABLED 0
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#defined to turn off undef warnings
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define __FPU_PRESENT 0
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define HAL_USE_RTC FALSE
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define HAL_NO_FLASH_SUPPORT TRUE
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define HAL_NO_UARTDRIVER TRUE
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define DISABLE_SERIAL_ESC_COMM TRUE
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define HAL_LOGGING_ENABLED 0
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define DMA_RESERVE_SIZE 0
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# reduce memory usage in RCInput
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define SOFTSIG_MAX_SIGNAL_TRANSITIONS 128
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define IOMCU_FW TRUE
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define AP_FASTBOOT_ENABLED 0
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IOMCU_FW 1
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MAIN_STACK 0x200
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PROCESS_STACK 0x250
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define HAL_DISABLE_LOOP_DELAY
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define AP_BOOTLOADER_FLASHING_ENABLED 0
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define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 0
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define AP_RCPROTOCOL_PPMSUM_ENABLED 1
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define AP_RCPROTOCOL_IBUS_ENABLED 1
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define AP_RCPROTOCOL_SBUS_ENABLED 1
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define AP_RCPROTOCOL_DSM_ENABLED 1
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define AP_RCPROTOCOL_SUMD_ENABLED 1
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define AP_RCPROTOCOL_SRXL_ENABLED 1
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define AP_RCPROTOCOL_ST24_ENABLED 1
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define AP_RCPROTOCOL_FPORT_ENABLED 1
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AUTOBUILD_TARGETS iofirmware
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define HAL_WITH_DSP FALSE
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define HAL_DSHOT_ENABLED FALSE
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