diff --git a/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef-bl.dat new file mode 100644 index 0000000000..fb6446f0b2 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef-bl.dat @@ -0,0 +1,102 @@ +# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32G474 STM32G474xx + +FLASH_RESERVE_START_KB 0 +FLASH_BOOTLOADER_LOAD_KB 26 + +# reserve some space for params +APP_START_OFFSET_KB 4 + +# board ID for firmware load +APJ_BOARD_ID 1027 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# crystal frequency, no crystal for now +OSCILLATOR_HZ 24000000 + +# assume 256k flash part +FLASH_SIZE_KB 256 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# order of UARTs +SERIAL_ORDER USART1 + +# a fault LED +PA1 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 1 + +# USART1 +PA9 USART1_TX USART1 SPEED_HIGH NODMA +PA10 USART1_RX USART1 SPEED_HIGH NODMA + +define HAL_USE_SERIAL TRUE + +define STM32_SERIAL_USE_USART1 TRUE + +define HAL_NO_GPIO_IRQ + +define SERIAL_BUFFERS_SIZE 32 +define HAL_USE_EMPTY_IO TRUE +define PORT_INT_REQUIRED_STACK 64 + +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 0x800 +PROCESS_STACK 0x800 + +define HAL_DISABLE_LOOP_DELAY + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +# enable CAN support +PB5 CAN2_RX CAN2 +PB6 CAN2_TX CAN2 +PB0 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PA7 GPIO_CAN2_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW + +# 2nd CAN interface +PB3 CAN3_RX CAN3 +PB4 CAN3_TX CAN3 +PC4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PA6 GPIO_CAN3_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW + +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 + +CAN_ORDER 2 1 + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# make bl baudrate match debug baudrate for easier debugging +define BOOTLOADER_BAUDRATE 57600 + +# define BOOTLOADER_DEBUG SD1 + +# use a small bootloader timeout +define HAL_BOOTLOADER_TIMEOUT 1000 + +# reserve 256 bytes for comms between app and bootloader +RAM_RESERVE_START 256 + +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 + +define CAN_APP_NODE_NAME "org.ardupilot.G4-ESC" + +# Add CS pins to ensure they are high in bootloader +PB12 IMU_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat new file mode 100644 index 0000000000..5c8ef9c8b7 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat @@ -0,0 +1,170 @@ +# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32G474 STM32G474xx + +# bootloader starts firmware at 26k + 4k (STORAGE_FLASH) +FLASH_RESERVE_START_KB 30 + +# store parameters in pages 13 and 14 +define STORAGE_FLASH_PAGE 13 +define HAL_STORAGE_SIZE 800 + +# board ID for firmware load +APJ_BOARD_ID 1027 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# enable watchdog +define HAL_WATCHDOG_ENABLED_DEFAULT true + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# use TIM5 to leave TIM2 for LED +STM32_ST_USE_TIMER 5 + +# assume the 512k flash part +FLASH_SIZE_KB 512 + +# order of UARTs +SERIAL_ORDER USART1 + +define HAL_CAN_POOL_SIZE 6000 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# USART1, telemetry +PA9 USART1_TX USART1 SPEED_HIGH +PA10 USART1_RX USART1 SPEED_HIGH + +# LEDs +PB10 LED OUTPUT LOW +#PB9 LED_R OUTPUT LOW +PB7 LED_G OUTPUT LOW +PA12 LED_B OUTPUT LOW + +# a fault LED +PA1 LED_FAULT OUTPUT LOW + +# allow for reboot command for faster development +define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# spi bus for IMU +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +PB12 IMU_CS CS + +# accel interrupts +PB1 ACCEL_INT1 INPUT GPIO(70) +PB2 ACCEL_INT2 INPUT GPIO(71) + +SPIDEV adxl327 SPI2 DEVID2 IMU_CS MODE3 2*MHZ 8*MHZ + +# sensing motor position +PC11 HALL_A INPUT GPIO(90) +PC10 HALL_B INPUT GPIO(91) +PA2 HALL_C INPUT GPIO(92) + +define HAL_USE_ADC TRUE +define STM32_ADC_USE_ADC1 TRUE +# define STM32_ADC_USE_ADC2 TRUE + +#PA4 VSENSE50 ADC2 SCALE(18.39416) +#PA5 VSENSE3v3 ADC2 SCALE(1) + +PB11 BAT_CURR_SENS ADC1 SCALE(1) + +# ESC interrupt +PC6 ESC_INT INPUT + +define HAL_NO_GPIO_IRQ +define SERIAL_BUFFERS_SIZE 512 + +define NO_DATAFLASH TRUE + +define DMA_RESERVE_SIZE 2048 + +define PERIPH_FW TRUE + +# stack for fast interrupts +define PORT_INT_REQUIRED_STACK 64 + +# MAIN_STACK is stack for ISR handlers +MAIN_STACK 0x300 + +# PROCESS_STACK controls stack for main thread +PROCESS_STACK 0x800 + +define HAL_DISABLE_LOOP_DELAY + +# enable CAN support +PB5 CAN2_RX CAN2 +PB6 CAN2_TX CAN2 +PB0 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PA7 GPIO_CAN2_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW + +# 2nd CAN interface +PB3 CAN3_RX CAN3 +PB4 CAN3_TX CAN3 +PC4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PA6 GPIO_CAN3_SHUTDOWN OUTPUT PUSHPULL SPEED_LOW LOW + +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 + +CAN_ORDER 2 3 + +# DShot output +PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) + +# LED on timer +PA15 TIM2_CH1 TIM2 PWM(2) GPIO(51) + +define HAL_PERIPH_ENABLE_RC_OUT + +define HAL_UART_MIN_TX_SIZE 256 +define HAL_UART_MIN_RX_SIZE 128 + +define HAL_UART_STACK_SIZE 0x200 + + +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_DEVICE_THREAD_STACK 0x200 +define STORAGE_THD_WA_SIZE 512 +define IO_THD_WA_SIZE 512 + +define AP_PARAM_MAX_EMBEDDED_PARAM 512 + +# use the app descriptor needed by MissionPlanner for CAN upload +env APP_DESCRIPTOR MissionPlanner + +# reserve 256 bytes for comms between app and bootloader +RAM_RESERVE_START 256 + +# keep ROMFS uncompressed as we don't have enough RAM +# to uncompress the bootloader at runtime +env ROMFS_UNCOMPRESSED True + +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 + +define CAN_APP_NODE_NAME "org.ardupilot.G4-ESC" + +# don't share any DMA channels (there are enough for everyone) +DMA_NOSHARE *