AP_HAL_ChibiOS/hwdef: Add hwdef for Sierra True series periphs

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/defaults.parm

@@ -0,0 +1,4 @@
+# setup for Neopixel
+OUT1_FUNCTION 120
+NTF_LED_TYPES 455
+NTF_LED_LEN 2

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef-bl.dat

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+# HW definition file for Sierra-TrueNav Pro
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1091
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# Flash info
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# a fault LED
+PA1 LED_BOOTLOADER OUTPUT LOW # amber
+define HAL_LED_ON 1
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
+
+CAN_ORDER 1
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+define HAL_USE_SERIAL FALSE
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+define DMA_RESERVE_SIZE 0
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+define HAL_DISABLE_LOOP_DELAY
+
+# Add CS pins to ensure they are high in bootloader
+PB12 RM3100_CS CS
+PA8 BARO_CS CS
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro"

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat

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+# HW definition file for Sierra-TrueNav Pro
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 40
+FLASH_SIZE_KB 256
+
+# store parameters in pages 18 and 19
+STORAGE_FLASH_PAGE 18
+define HAL_STORAGE_SIZE 800
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+# board ID for firmware load
+APJ_BOARD_ID 1091
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+env AP_PERIPH 1
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+define DMA_RESERVE_SIZE 0
+
+# MAIN_STACK is stack for ISR handlers
+MAIN_STACK 0x300
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0xA00
+
+# save memory
+define HAL_DISABLE_LOOP_DELAY
+define HAL_GCS_ENABLED 0
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_LOGGING
+define HAL_USE_ADC FALSE
+define HAL_NO_RCIN_THREAD
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# --------------------- SPI1 RM3100+DPS310 -----------------------
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PB12 RM3100_CS CS
+PA8 BARO_CS CS
+
+# Baro probe
+SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
+BARO DPS310 SPI:dps310
+
+# Mag probe
+SPIDEV  rm3100 SPI1 DEVID1   RM3100_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
+define AP_RM3100_REVERSAL_MASK 7
+
+# ---------------------- CAN bus -------------------------
+CAN_ORDER 1
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+
+define HAL_CAN_POOL_SIZE 12000
+
+# ---------------------- UARTs ---------------------------
+SERIAL_ORDER USART1
+
+# USART1 for GPS
+PA9  USART1_TX USART1 SPEED_HIGH
+PA10  USART1_RX USART1 SPEED_HIGH
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# enable GPS and compass
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+
+# 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_PERIPH_GPS_PORT_DEFAULT 0
+
+# minimal GPS drivers to reduce flash usage
+include ../include/minimal_GPS.inc
+
+# GPS PPS
+PA15 GPS_PPS_IN INPUT
+
+# PWM, WS2812 LED
+PB10 TIM2_CH3 TIM2 PWM(1) GPIO(50)
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro"
+
+# Enable GPS LDO
+PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef-bl.dat

@@ -0,0 +1,57 @@
+# HW definition file for Sierra-TrueNorth
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1093
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# Flash info
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# a fault LED
+PB14 LED_BOOTLOADER OUTPUT LOW # amber
+define HAL_LED_ON 1
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA10 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB12 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
+
+CAN_ORDER 1
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+define HAL_USE_SERIAL FALSE
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+define DMA_RESERVE_SIZE 0
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+define HAL_DISABLE_LOOP_DELAY
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNorth"
+PA4 RM3100_CS CS

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat

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+# HW definition file for Sierra-TrueNorth
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 40
+FLASH_SIZE_KB 256
+
+# store parameters in pages 18 and 19
+STORAGE_FLASH_PAGE 18
+define HAL_STORAGE_SIZE 800
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+# board ID for firmware load
+APJ_BOARD_ID 1093
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+env AP_PERIPH 1
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+define DMA_RESERVE_SIZE 0
+
+# MAIN_STACK is stack for ISR handlers
+MAIN_STACK 0x300
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0xA00
+
+# save memory
+define HAL_DISABLE_LOOP_DELAY
+define HAL_GCS_ENABLED 0
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_LOGGING
+define HAL_USE_ADC FALSE
+define HAL_NO_RCIN_THREAD
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# ---------------------- CAN bus -------------------------
+CAN_ORDER 1
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA10 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB12 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
+
+define HAL_CAN_POOL_SIZE 6000
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# enable compass and airspeed
+define HAL_PERIPH_ENABLE_MAG
+define HAL_COMPASS_MAX_SENSORS 1  
+
+# PWM, WS2812 LED
+PA2 TIM2_CH3 TIM2 PWM(1) GPIO(50)
+PA3 TIM2_CH4 TIM2 PWM(2) GPIO(51)
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNorth"
+
+# SPI1 bus for RM3100
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA4 RM3100_CS CS
+
+SPIDEV  rm3100 SPI1 DEVID1   RM3100_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
+
+# LEDs
+PB14 LED OUTPUT LOW GPIO(1)
+
+# ---------------------- UARTs ---------------------------
+SERIAL_ORDER USART1
+
+# USART1
+PA9  USART1_TX USART1 SPEED_HIGH
+PB7  USART1_RX USART1 SPEED_HIGH

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef-bl.dat

@@ -0,0 +1,56 @@
+# HW definition file for Sierra-TrueSpeed
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1094
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# Flash info
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# a fault LED
+PA1 LED_BOOTLOADER OUTPUT LOW # amber
+define HAL_LED_ON 1
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
+
+CAN_ORDER 1
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+define HAL_USE_SERIAL FALSE
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+define DMA_RESERVE_SIZE 0
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+define HAL_DISABLE_LOOP_DELAY
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueSpeed"