hwdef: added MFE_POS3_GPS

libraries/AP_HAL_ChibiOS/hwdef/MFE_POS3_CAN/README.md

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+
+## MFE_POS3_CAN
+
+The MFE_POS3_CAN is sold by a range of resellers listed on the makeflyeasy(http://www.makeflyeasy.com)
+
+## Features
+
+• STM32F427VIT6 microcontroller
+
+• RM3100 compass
+
+• NEO-M9N 
+
+• one CAN port
+
+• Blue led
+
+
+## Picture
+
+![MFE_POS3_CAN](MFE_POS3_CAN-1.png "MFE_POS3_CAN-1")
+
+## Pinout
+ 
+ Connector pin assignments
+=========================
+
+CAN1 ports
+---------------
+
+   <table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>PIN</th>
+   <th>SIGNAL</th>
+   <th>VOLT</th>
+   </tr>
+   <tr>
+   <td>1</td>
+   <td>VCC</td>
+   <td>+5V</td>
+   </tr>
+   <tr>
+   <td>2</td>
+   <td>CAN_H</td>
+   <td>+12V</td>
+   </tr>
+   <tr>
+   <td>3</td>
+   <td>CAN_L</td>
+   <td>+12V</td>
+   </tr>
+   <tr>
+   <td>4</td>
+   <td>GND</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+
+Where to Buy
+============
+
+`makeflyeasy <http://www.makeflyeasy.com>`
+

libraries/AP_HAL_ChibiOS/hwdef/MFE_POS3_CAN/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32F4xx STM32F427xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 32
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# 128k flash part
+FLASH_SIZE_KB 2048
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MFE_POS3_CAN
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# debug on USART1
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# order of UARTs
+SERIAL_ORDER 
+
+# blue LED
+PC6 LED_BOOTLOADER OUTPUT HIGH
+define HAL_LED_ON 1
+
+#PA0 LED_RED OUTPUT LOW
+#PA2 LED_GREEN OUTPUT LOW
+#PA3 LED_SAFETY OUTPUT LOW
+#PA4 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# USART1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART1 TRUE
+define STM32_SERIAL_USE_USART2 TRUE
+define STM32_SERIAL_USE_USART3 FALSE
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_THREAD
+
+define DMA_RESERVE_SIZE 0
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a smaller bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 2500
+
+# Add CS pins to ensure they are high in bootloader
+PA4 MAG_CS CS

libraries/AP_HAL_ChibiOS/hwdef/MFE_POS3_CAN/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# MCU class and specific type
+
+#AUTOBUILD_TARGETS None
+
+# MCU class and specific type
+MCU STM32F4xx STM32F427xx
+
+FLASH_RESERVE_START_KB 36
+
+STORAGE_FLASH_PAGE 16
+define HAL_STORAGE_SIZE 8192
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MFE_POS3_CAN
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+FLASH_SIZE_KB 2048
+
+
+# order of UARTs
+SERIAL_ORDER USART1 USART2
+
+# LEDs
+PC6 LED OUTPUT LOW
+define HAL_GPIO_LED_ON  1
+
+# USART2, GPS
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART1, debug, disabled to save flash
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# I2C2 bus
+PB11 I2C2_SDA I2C2
+PB10 I2C2_SCL I2C2
+
+
+# I2C buses
+I2C_ORDER I2C2
+
+# one SPI bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI CS
+PA4  MAG_CS CS
+
+# GPS PPS
+PA10 GPS_PPS_IN INPUT
+
+# SPI devices
+SPIDEV rm3100 SPI1 DEVID1 MAG_CS  MODE3   1*MHZ    1*MHZ
+
+# compass
+COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
+COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_RTC FALSE
+define DMA_RESERVE_SIZE 0
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define HAL_DEVICE_THREAD_STACK 768
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# 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
+
+# add support for moving baseline yaw
+define GPS_MOVING_BASELINE 1
+
+# GPS+MAG+BARO+LEDs
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+
+# GPS on 1st port
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True