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Posted by Anonymous on Sat 12 Dec 13:43
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  1. # hw definition file for processing by chibios_hwdef.py
  2. # for Pixracer bootloader
  3.  
  4. # MCU class and specific type
  5. MCU STM32F4xx STM32F427xx
  6.  
  7. # crystal frequency
  8. OSCILLATOR_HZ 24000000
  9.  
  10. # board ID for firmware load
  11. APJ_BOARD_ID 1101
  12.  
  13. FLASH_SIZE_KB 2048
  14.  
  15. # ChibiOS system timer
  16. STM32_ST_USE_TIMER 5
  17.  
  18. # setup build for a peripheral firmware
  19. env AP_PERIPH 1
  20. define PERIPH_FW TRUE
  21. define HAL_DISABLE_LOOP_DELAY
  22.  
  23. # bootloader is installed at zero offset
  24. FLASH_RESERVE_START_KB 0
  25.  
  26. # the location where the bootloader will put the firmware
  27. # we use first 32k
  28. FLASH_BOOTLOADER_LOAD_KB 32
  29.  
  30. # order of UARTs (and USB)
  31. SERIAL_ORDER OTG1 UART2
  32.  
  33. PB1 LED_BOOTLOADER OUTPUT
  34. PB3 LED_ACTIVITY OUTPUT
  35. define HAL_LED_ON 1
  36.  
  37. PA9 VBUS INPUT
  38.  
  39. STDOUT_SERIAL SD2
  40. STDOUT_BAUDRATE 57600
  41. # make bl baudrate match debug baudrate for easier debugging
  42. define BOOTLOADER_BAUDRATE 57600
  43.  
  44. # USART2 serial2 telem1
  45. PD3 USART2_CTS USART2
  46. PD4 USART2_RTS USART2
  47. PD5 USART2_TX USART2
  48. PD6 USART2_RX USART2
  49.  
  50. # OTG1
  51. PA11 OTG_FS_DM OTG1
  52. PA12 OTG_FS_DP OTG1
  53.  
  54. PA13 JTMS-SWDIO SWD
  55. PA14 JTCK-SWCLK SWD
  56.  
  57. define HAL_STORAGE_SIZE 16384
  58.  
  59. # Add CS pins to ensure they are high in bootloader
  60. PC2 MPU9250_CS CS
  61. PC15 20608_CS CS
  62. PD7 BARO_CS CS
  63. #PD10 FRAM_CS CS
  64. PE15 MAG_CS CS
  65.  
  66. # the first CAN bus
  67. define HAL_USE_CAN TRUE
  68. define STM32_CAN_USE_CAN1 TRUE
  69. PD0 CAN1_RX CAN1
  70. PD1 CAN1_TX CAN1
  71.  
  72. # reserve 256 bytes for comms between app and bootloader
  73. RAM_RESERVE_START 256
  74.  
  75. # use DNA
  76. define HAL_CAN_DEFAULT_NODE_ID 0
  77.  
  78. define CAN_APP_NODE_NAME "org.ardupilot.Pixracer-periph"
  79.  
  80. # make bl baudrate match debug baudrate for easier debugging
  81. define BOOTLOADER_BAUDRATE 57600
  82.  
  83. # disable
  84. define HAL_NO_GPIO_IRQ
  85. define HAL_USE_EMPTY_IO TRUE
  86.  
  87. # avoid timer and RCIN threads to save memory
  88. define HAL_NO_TIMER_THREAD
  89. define HAL_NO_RCIN_THREAD
  90.  
  91. define HAL_USE_RTC FALSE
  92. define DISABLE_SERIAL_ESC_COMM TRUE
  93. define NO_DATAFLASH TRUE
  94.  
  95. define DMA_RESERVE_SIZE 0
  96.  
  97. # ChibiOS system timer
  98. STM32_ST_USE_TIMER 5

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