3d0cf7e12a
implements an FFT engine based on the betaflight feature using ARM hardware accelerated CMSIS library make the FFT feature optional add dynamic gyro windows add quinns and candans estimators and record in DSP state disable DSP for boards with limited flash calculate power spectrum rather than amplitude start/analyse version of analysis to support threading allocate memory in a specific region constrain window size by CPU class control inclusion of DSP based on board size
149 lines
2.9 KiB
Plaintext
149 lines
2.9 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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# bootloader starts firmware at 25k
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FLASH_RESERVE_START_KB 25
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# store parameters in pages 23 and 24
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define STORAGE_FLASH_PAGE 23
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define HAL_STORAGE_SIZE 800
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# board ID for firmware load
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APJ_BOARD_ID 1000
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# enable watchdog
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define HAL_WATCHDOG_ENABLED_DEFAULT true
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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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# assume the 128k flash part for now
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FLASH_SIZE_KB 128
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# board voltage
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STM32_VDD 330U
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# order of UARTs
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UART_ORDER EMPTY USART1
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# a LED to flash
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PA4 LED OUTPUT LOW
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# USART1, connected to GPS
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PA9 USART1_TX USART1 SPEED_HIGH NODMA
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PA10 USART1_RX USART1 SPEED_HIGH NODMA
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# USART2 for debug (disabled)
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# PA2 USART2_TX USART2 SPEED_HIGH NODMA
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# PA3 USART2_RX USART2 SPEED_HIGH NODMA
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define HAL_UART_NODMA
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# only one I2C bus in normal config
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PB0 MAG_CS CS
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# spi bus for compass
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# analog input
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# PA5 VIN5 ADC1
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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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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 512
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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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#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 DISABLE_SERIAL_ESC_COMM TRUE
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define NO_DATAFLASH TRUE
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define DMA_RESERVE_SIZE 0
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define PERIPH_FW TRUE
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# MAIN_STACK is stack of initial thread
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MAIN_STACK 0x80
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# PROCESS_STACK controls stack for main thread
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PROCESS_STACK 0x600
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define HAL_DISABLE_LOOP_DELAY
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# enable CAN support
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PA11 CAN_RX CAN
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PA12 CAN_TX CAN
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define HAL_USE_CAN TRUE
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define STM32_CAN_USE_CAN1 TRUE
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# reduce memory overheads
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define HAL_CAN_POOL_SIZE 2500
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define HAL_USE_I2C TRUE
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define STM32_I2C_USE_I2C1 TRUE
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define HAL_UART_MIN_TX_SIZE 128
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define HAL_UART_MIN_RX_SIZE 128
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define HAL_UART_STACK_SIZE 256
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define STORAGE_THD_WA_SIZE 256
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define IO_THD_WA_SIZE 256
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define HAL_NO_GCS
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define HAL_NO_LOGGING
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define HAL_NO_MONITOR_THREAD
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define HAL_MINIMIZE_FEATURES 0
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define HAL_BUILD_AP_PERIPH
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# only one I2C bus
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I2C_ORDER I2C1
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define HAL_I2C_CLEAR_ON_TIMEOUT 0
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define HAL_DEVICE_THREAD_STACK 256
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define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_I2C_INTERNAL_MASK 0
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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define HAL_WITH_DSP FALSE
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# use the app descriptor needed by MissionPlanner for CAN upload
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env APP_DESCRIPTOR MissionPlanner
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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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# define CH_DBG_ENABLE_STACK_CHECK TRUE
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# keep ROMFS uncompressed as we don't have enough RAM
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# to uncompress the bootloader at runtime
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env ROMFS_UNCOMPRESSED True
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