# hw definition file for processing by chibios_pins.py # MCU class and specific type MCU STM32F103 STM32F103xB # bootloader starts firmware at 23k + 2k (STORAGE_FLASH_PAGES) FLASH_RESERVE_START_KB 25 # store parameters in pages 23 and 24 STORAGE_FLASH_PAGE 23 define HAL_STORAGE_SIZE 800 # board ID for firmware load APJ_BOARD_ID 1000 # setup build for a peripheral firmware env AP_PERIPH 1 # enable watchdog # crystal frequency OSCILLATOR_HZ 8000000 define CH_CFG_ST_FREQUENCY 1000 # assume the 128k flash part for now FLASH_SIZE_KB 128 # order of UARTs SERIAL_ORDER EMPTY EMPTY EMPTY USART1 # a LED to flash PA1 LED OUTPUT LOW # USART1, connected to GPS PA9 USART1_TX USART1 SPEED_HIGH NODMA PA10 USART1_RX USART1 SPEED_HIGH NODMA # PB6 USART1_TX USART1 #SPEED_HIGH NODMA # PB7 USART1_RX USART1 #SPEED_HIGH NODMA # USART2 for debug (disabled) # PA2 USART2_TX USART2 SPEED_HIGH NODMA # PA3 USART2_RX USART2 SPEED_HIGH NODMA define HAL_UART_NODMA # only one I2C bus in normal config # PB6 I2C1_SCL I2C1 # PB7 I2C1_SDA I2C1 # analog input # PA5 VIN5 ADC1 define HAL_USE_ADC FALSE define STM32_ADC_USE_ADC1 FALSE define HAL_DISABLE_ADC_DRIVER TRUE define HAL_NO_GPIO_IRQ define CH_CFG_ST_TIMEDELTA 0 #define CH_CFG_USE_DYNAMIC FALSE define SERIAL_BUFFERS_SIZE 512 define PORT_INT_REQUIRED_STACK 64 # avoid timer and RCIN threads to save memory #define HAL_NO_TIMER_THREAD define HAL_NO_RCOUT_THREAD define HAL_NO_RCIN_THREAD #defined to turn off undef warnings define __FPU_PRESENT 0 define HAL_USE_RTC FALSE define DISABLE_SERIAL_ESC_COMM TRUE define DMA_RESERVE_SIZE 0 # MAIN_STACK is stack of initial thread and ISRs MAIN_STACK 0x200 # PROCESS_STACK controls stack for main thread PROCESS_STACK 0xA00 define HAL_DISABLE_LOOP_DELAY # enable CAN support PA11 CAN_RX CAN PA12 CAN_TX CAN # reduce memory overheads define HAL_CAN_POOL_SIZE 2500 define HAL_USE_I2C FALSE define STM32_I2C_USE_I2C1 FALSE define HAL_USE_SERIAL TRUE define STM32_USART_USE_USART1 TRUE define HAL_USE_SPI TRUE define STM32_SPI_USE_SPI1 TRUE define HAL_UART_MIN_TX_SIZE 128 define HAL_UART_MIN_RX_SIZE 128 define HAL_UART_STACK_SIZE 256 define STORAGE_THD_WA_SIZE 300 define IO_THD_WA_SIZE 300 define HAL_NO_MONITOR_THREAD # only one I2C bus # I2C_ORDER I2C1 # define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_DEVICE_THREAD_STACK 2048 define AP_PARAM_MAX_EMBEDDED_PARAM 0 # define HAL_I2C_INTERNAL_MASK 0 # disable dual GPS and GPS blending to save flash space define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 #define HAL_COMPASS_MAX_SENSORS 1 define HAL_WITH_DSP FALSE # keep ROMFS uncompressed as we don't have enough RAM # to uncompress the bootloader at runtime env ROMFS_UNCOMPRESSED True # reduce the number of CAN RX Buffer define HAL_CAN_RX_QUEUE_SIZE 32 # disable stack checking to reduce flash cost define CH_DBG_ENABLE_STACK_CHECK FALSE #---------------------------------hwdef.inc_f103_ends_here--------------------------------# define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" define HAL_CAN_DEFAULT_NODE_ID 55 # and support all external compass types # define HAL_PROBE_EXTERNAL_I2C_COMPASSES # increase TX size for RTCM undef HAL_UART_MIN_TX_SIZE define HAL_UART_MIN_TX_SIZE 256 # GPS define HAL_PERIPH_ENABLE_GPS define GPS_MAX_RATE_MS 200 # restrict backends available on f103: define AP_GPS_NOVA_ENABLED 0 define AP_GPS_SBF_ENABLED 0 define AP_GPS_GSOF_ENABLED 0 define AP_GPS_UBLOX_ENABLED 1 # MAG #define HAL_PERIPH_ENABLE_MAG #define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY #define HAL_PERIPH_ENABLE_TOSHIBA_LED_WITHOUT_NOTIFY #COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE # define COMPASS_CAL_ENABLED 1 #COMPASS MMC5XX3:probe 0 ROTATION_NONE # --------------------- SPI1 MMC5XX3 -------------------- PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA4 MAG_CS CS # ---------------------- COMPASS --------------------------- define HAL_PERIPH_ENABLE_MAG SPIDEV mmc5XX3 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ COMPASS MMC5XX3 SPI:mmc5XX3 false ROTATION_NONE define HAL_COMPASS_MAX_SENSORS 1