f9c5f9be00
refactor rcout into separate thread and process all dshot requests there move uart DMA completion to event model process dshot locks in strick reverse order when unlocking convert Shared_DMA to use mutexes move UART transmit to a thread-per-uart do blocking UART DMA transactions do blocking dshot DMA transactions trim stack sizes cancel dma transactions on dshot when timeout occurs support contention stats on blocking locking move thread supression into chibios_hwdef.py invalidate DMA bounce buffer correctly separate UART initialisation into two halves cleanup UART transaction timeouts add @SYS/uarts.txt move half-duplex handling to TX thread correct thread statistics after use of ExpandingString set unbuffered TX thread priority owner + 1 correctly unlock serial_led_send() don't share IMU RX on KakuteF7Mini observe dshot pulse time more accurately. set TRBUFF bit for UART DMA transfers deal with UART DMA timeouts correctly don't deadlock on reverse ordered DMA locks change PORT_INT_REQUIRED_STACK to 128
143 lines
2.8 KiB
Plaintext
143 lines
2.8 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 STM32F303 STM32F303xC
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# bootloader starts firmware at 22k + 4k (STORAGE_FLASH)
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FLASH_RESERVE_START_KB 26
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# store parameters in pages 11 and 12
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define STORAGE_FLASH_PAGE 11
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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 1004
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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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define CH_CFG_ST_TIMEDELTA 0
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# assume the 256k flash part for now
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FLASH_SIZE_KB 256
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# order of UARTs
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SERIAL_ORDER USART2 EMPTY EMPTY USART1
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# a LED to flash
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PA4 LED OUTPUT LOW
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define HAL_CAN_POOL_SIZE 6000
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# USART1, connected to GPS
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PA9 USART1_TX USART1 SPEED_HIGH
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PA10 USART1_RX USART1 SPEED_HIGH
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# USART2 for debug
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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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# 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 FALSE
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define STM32_ADC_USE_ADC1 FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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define HAL_NO_GPIO_IRQ
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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_RCIN_THREAD
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define HAL_NO_RCOUT_THREAD
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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 and of ISRs
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MAIN_STACK 0x300
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# PROCESS_STACK controls stack for main thread
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PROCESS_STACK 0x800
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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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# debugger support
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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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 256
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define HAL_UART_MIN_RX_SIZE 128
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define HAL_UART_STACK_SIZE 0x300
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define STORAGE_THD_WA_SIZE 512
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define IO_THD_WA_SIZE 512
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define HAL_NO_GCS
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define HAL_NO_LOGGING
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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 0x200
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define AP_PARAM_MAX_EMBEDDED_PARAM 512
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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 RANGEFINDER_MAX_INSTANCES 1
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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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# 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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# reduce the number of CAN RX Buffer
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define HAL_CAN_RX_QUEUE_SIZE 64
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