HAL_ChibiOS: support ZubaxGNSS as a AP_Periph target

libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat

@@ -0,0 +1,118 @@
+# hw definition file for Zubax GNSS
+
+# MCU class and specific type
+MCU STM32F105 STM32F105xC
+
+define STM32F107_MCUCONF
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 34
+
+# board ID for firmware load
+APJ_BOARD_ID 3
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+define HAL_BOARD_AP_PERIPH_ZUBAXGNSS
+
+define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS"
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000
+
+FLASH_SIZE_KB 256
+
+# USART3 for debug
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 115200
+
+# USART3 for debug
+PB10 USART3_TX USART3 SPEED_HIGH NODMA
+PB11 USART3_RX USART3 SPEED_HIGH NODMA
+
+# board voltage
+STM32_VDD 330U
+
+PB7 PERIPH_RESET OUTPUT HIGH
+
+#PC1 HWID_BIT0 INPUT
+#PC2 HWID_BIT1_INV INPUT
+#PC3 HWID_BIT2 INPUT
+
+PB3 LED_BOOTLOADER OUTPUT
+PB5 LED_CAN1 OUTPUT
+PB4 LED_CAN2 OUTPUT
+define HAL_LED_ON 1
+
+# don't enable DMA in UART driver
+define HAL_UART_NODMA
+
+# enable CAN support
+PA11 CAN_RX CAN
+PB9 CAN_TX CAN
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+# no I2C buses
+# I2C_ORDER
+
+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 SERIAL_BUFFERS_SIZE 512
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_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 NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+MAIN_STACK 0x100
+PROCESS_STACK 0x600
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_NO_ROMFS_SUPPORT
+
+define HAL_UART_MIN_TX_SIZE 256
+define HAL_UART_MIN_RX_SIZE 128
+
+define HAL_UART_STACK_SIZE 256
+define STORAGE_THD_WA_SIZE 512
+
+define HAL_NO_GCS
+define HAL_NO_LOGGING
+define HAL_NO_MONITOR_THREAD
+
+define HAL_MINIMIZE_FEATURES 0
+
+define HAL_BUILD_AP_PERIPH
+define HAL_USE_EMPTY_STORAGE 1
+
+define HAL_DEVICE_THREAD_STACK 768
+
+define AP_PARAM_MAX_EMBEDDED_PARAM 0
+
+# USART2 for GPS
+#PA2 USART2_TX USART2 SPEED_HIGH NODMA
+PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+UART_ORDER
+
+define HAL_STORAGE_SIZE 800

libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat

@@ -0,0 +1,160 @@
+# hw definition file for Zubax GNSS
+
+# MCU class and specific type
+MCU STM32F105 STM32F105xC
+
+define STM32F107_MCUCONF
+
+define HAL_BOARD_AP_PERIPH_ZUBAXGNSS
+
+define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS"
+
+# bootloader starts firmware at 34k
+FLASH_RESERVE_START_KB 34
+
+# store parameters in pages 32 and 33
+define STORAGE_FLASH_PAGE 32
+define HAL_STORAGE_SIZE 800
+
+# board ID for firmware load
+APJ_BOARD_ID 3
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000
+
+FLASH_SIZE_KB 256
+
+# USART3 for debug
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 115200
+
+# board voltage
+STM32_VDD 330U
+
+# enable pin for GPS
+PB7 GPS_ENABLE OUTPUT HIGH
+
+PA15 BARO_CS CS
+PD2  MAG_CS CS
+PB6  MAG_DRDY INPUT
+
+PC1 HWID_BIT0 INPUT
+PC2 HWID_BIT1_INV INPUT
+PC3 HWID_BIT2 INPUT
+
+PB3 LED OUTPUT
+PB5 LED_CAN1 OUTPUT
+PB4 LED_CAN2 OUTPUT
+
+# USART2 for GPS
+PA2 USART2_TX USART2 SPEED_HIGH NODMA
+PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+# USART3 for debug
+PB10 USART3_TX USART3 SPEED_HIGH NODMA
+PB11 USART3_RX USART3 SPEED_HIGH NODMA
+
+# PA13 XPA13 OUTPUT HIGH
+# PA1 XPA1 INPUT FLOATING
+
+# don't enable DMA in UART driver
+define HAL_UART_NODMA
+
+# enable CAN support
+PA11 CAN_RX CAN
+PB9 CAN_TX CAN
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+# no I2C buses
+# I2C_ORDER
+
+# spi bus for baro/mag
+PC10 SPI3_SCK SPI3 SPEED_HIGH
+PC11 SPI3_MISO SPI3 SPEED_HIGH
+PC12 SPI3_MOSI SPI3 SPEED_HIGH
+
+#########################
+# order of UARTs
+UART_ORDER USART3 USART2
+
+SPIDEV ms5611  SPI3 DEVID1 BARO_CS MODE3 8*MHZ 8*MHZ
+SPIDEV lis3mdl SPI3 DEVID2 MAG_CS MODE3 500*KHZ 500*KHZ
+
+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 SERIAL_BUFFERS_SIZE 512
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_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 NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+MAIN_STACK 0x300
+PROCESS_STACK 0x500
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_I2C TRUE
+define STM32_I2C_USE_I2C1 TRUE
+
+define HAL_NO_ROMFS_SUPPORT
+
+define HAL_UART_MIN_TX_SIZE 256
+define HAL_UART_MIN_RX_SIZE 128
+
+define CH_DBG_ENABLE_STACK_CHECK TRUE
+
+define HAL_UART_STACK_SIZE 256
+define STORAGE_THD_WA_SIZE 512
+
+define HAL_MINIMIZE_FEATURES 0
+
+define HAL_BUILD_AP_PERIPH
+define HAL_USE_EMPTY_STORAGE 1
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+
+define HAL_DEVICE_THREAD_STACK 768
+
+define AP_PARAM_MAX_EMBEDDED_PARAM 0
+
+define HAL_I2C_INTERNAL_MASK 0
+
+# LIS3MDL compass
+COMPASS LIS3MDL SPI:lis3mdl false ROTATION_YAW_270
+
+# MS5611 baro
+BARO MS56XX SPI:ms5611
+
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+define HAL_CAN_DEFAULT_NODE_ID 114
+
+define HAL_NO_GCS
+define HAL_NO_LOGGING
+define HAL_NO_MONITOR_THREAD
+
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO