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
76 lines
1.6 KiB
Plaintext
76 lines
1.6 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 STM32F7xx STM32F732xx
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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 1028
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# also support px4 firmware with ID 85
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ALT_BOARD_ID 85
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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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# assume 512k flash part
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FLASH_SIZE_KB 512
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# order of UARTs
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SERIAL_ORDER OTG1
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PC7 USB_RESET_N OUTPUT PUSHPULL HIGH
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# use safety button to stay in bootloader
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PC14 STAY_IN_BOOTLOADER INPUT PULLDOWN
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define HAL_STAY_IN_BOOTLOADER_VALUE 1
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PA6 LED_BOOTLOADER OUTPUT HIGH
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define HAL_LED_ON 0
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# Now we define the pins that USB is connected on.
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define HAL_USE_SERIAL FALSE
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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 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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define CAN_APP_NODE_NAME "org.ardupilot.FreeflyRTK"
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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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# Add CS pins to ensure they are high in bootloader
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PA15 IMU_CS CS
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