From 35ed87a5db041495c727b855e6652eaf1b4e6fa8 Mon Sep 17 00:00:00 2001 From: mateksys Date: Sun, 27 Feb 2022 17:15:06 +0800 Subject: [PATCH] AP_HAL_ChibiOS: add MatekL431 AP_Periph hwdef --- .../hwdef/MatekL431-Airspeed/hwdef-bl.dat | 3 + .../hwdef/MatekL431-Airspeed/hwdef.dat | 15 +++ .../hwdef/MatekL431-Periph/hwdef-bl.dat | 3 + .../hwdef/MatekL431-Periph/hwdef.dat | 85 +++++++++++++++ .../hwdef/MatekL431/hwdef-bl.inc | 83 ++++++++++++++ .../AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc | 103 ++++++++++++++++++ 6 files changed, 292 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef-bl.inc create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef-bl.dat new file mode 100644 index 0000000000..887b18aeac --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef-bl.dat @@ -0,0 +1,3 @@ +include ../MatekL431/hwdef-bl.inc + +define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Airspeed" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef.dat new file mode 100644 index 0000000000..302d5c8d88 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef.dat @@ -0,0 +1,15 @@ +include ../MatekL431/hwdef.inc + +define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Airspeed" + +define HAL_USE_ADC FALSE +define STM32_ADC_USE_ADC1 FALSE +define HAL_DISABLE_ADC_DRIVER TRUE + +# ------------------ I2C airspeed ------------------------- +define HAL_PERIPH_ENABLE_AIRSPEED + +# 10" DLVR sensor by default +define HAL_AIRSPEED_TYPE_DEFAULT 9 +define AIRSPEED_MAX_SENSORS 1 + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef-bl.dat new file mode 100644 index 0000000000..dd6b5cc887 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef-bl.dat @@ -0,0 +1,3 @@ +include ../MatekL431/hwdef-bl.inc + +define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Periph" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat new file mode 100644 index 0000000000..ace89f7764 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat @@ -0,0 +1,85 @@ +include ../MatekL431/hwdef.inc + +define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Periph" + + +# --------------------- PWM ----------------------- +PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) +PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51) +PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52) +PA11 TIM1_CH4 TIM1 PWM(4) GPIO(53) +PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) + +# Beeper +PA6 TIM16_CH1 TIM16 GPIO(32) ALARM + +# ----------------------- GPS ---------------------------- +define HAL_PERIPH_ENABLE_GPS +define GPS_MAX_RATE_MS 200 + +define GPS_MAX_RECEIVERS 1 +define GPS_MAX_INSTANCES 1 + +define HAL_PERIPH_GPS_PORT_DEFAULT 2 + + +# ---------------------- COMPASS --------------------------- +define HAL_PERIPH_ENABLE_MAG + +SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ +COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180 + +define HAL_COMPASS_MAX_SENSORS 1 + +# added QMC5883L for different board varients +COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 + + +# --------------------- Barometer --------------------------- +define HAL_PERIPH_ENABLE_BARO +define HAL_BARO_ALLOW_INIT_NO_BARO + +BARO SPL06 I2C:0:0x76 + +# ------------------ I2C airspeed ------------------------- +define HAL_PERIPH_ENABLE_AIRSPEED + +# MS4525 sensor by default +define HAL_AIRSPEED_TYPE_DEFAULT 1 +define AIRSPEED_MAX_SENSORS 1 + +# -------------------- MSP -------------------------------- +define HAL_PERIPH_ENABLE_MSP +define HAL_MSP_ENABLED 1 +define AP_PERIPH_MSP_PORT_DEFAULT 1 + +# ------------------ BATTERY Monitor ----------------------- +define HAL_PERIPH_ENABLE_BATTERY + +define HAL_USE_ADC TRUE +define STM32_ADC_USE_ADC1 TRUE + +PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA1 BATT_CURRENT_SENS ADC1 SCALE(1) + +define HAL_BATT_MONITOR_DEFAULT 0 +define HAL_BATT_VOLT_PIN 5 +define HAL_BATT_VOLT_SCALE 21.0 +define HAL_BATT_CURR_PIN 6 +define HAL_BATT_CURR_SCALE 40.0 + + +PB0 BATT2_VOLTAGE_SENS ADC1 SCALE(1) +PB1 BATT2_CURRENT_SENS ADC1 SCALE(1) + +define HAL_BATT2_MONITOR_DEFAULT 0 +define HAL_BATT2_VOLT_PIN 15 +define HAL_BATT2_VOLT_SCALE 21.0 +define HAL_BATT2_CURR_PIN 16 +define HAL_BATT2_CURR_SCALE 40.0 + + +# -------------------- Buzzer+NeoPixels --------------d------ +define HAL_PERIPH_ENABLE_RC_OUT +define HAL_PERIPH_ENABLE_NOTIFY + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef-bl.inc b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef-bl.inc new file mode 100644 index 0000000000..1ef579243f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef-bl.inc @@ -0,0 +1,83 @@ +# hw definition file Matek L431 CAN node + +# MCU class and specific type +MCU STM32L431 STM32L431xx + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# board ID for firmware load +APJ_BOARD_ID 1062 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +FLASH_RESERVE_START_KB 0 +FLASH_BOOTLOADER_LOAD_KB 36 +FLASH_SIZE_KB 256 + +# reserve some space for params +APP_START_OFFSET_KB 4 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# --------------------------------------------- +PB3 LED_BOOTLOADER OUTPUT LOW # blue +define HAL_LED_ON 0 + +# order of UARTs +SERIAL_ORDER USART1 USART2 USART3 + +PB6 USART1_TX USART1 NODMA +PB7 USART1_RX USART1 NODMA + +PA2 USART2_TX USART2 NODMA +PA3 USART2_RX USART2 NODMA + +PB10 USART3_TX USART3 NODMA +PB11 USART3_RX USART3 NODMA + +define HAL_USE_SERIAL TRUE +define STM32_SERIAL_USE_USART1 TRUE +define STM32_SERIAL_USE_USART2 TRUE +define STM32_SERIAL_USE_USART3 TRUE + +# enable CAN support +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 +# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +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 TRUE +define STM32_SERIAL_USE_USART1 TRUE +define STM32_SERIAL_USE_USART2 TRUE + +define HAL_NO_GPIO_IRQ +define SERIAL_BUFFERS_SIZE 32 +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 +PA4 MAG_CS CS +PB2 SPARE_CS CS + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc new file mode 100644 index 0000000000..82492ac3fc --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc @@ -0,0 +1,103 @@ +# hw definition file for Matek L431 CAN node + +# 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 1062 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +env AP_PERIPH 1 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +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 + +define HAL_DISABLE_LOOP_DELAY + +define HAL_GCS_ENABLED 0 +define HAL_NO_MONITOR_THREAD +define HAL_NO_LOGGING +define HAL_MINIMIZE_FEATURES 0 + +# we setup a small defaults.parm +define AP_PARAM_MAX_EMBEDDED_PARAM 512 + +# blue LED0 marked as ACT +PB3 LED OUTPUT HIGH +define HAL_LED_ON 1 + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# --------------------- SPI1 RM3100 ----------------------- +PA5 SPI1_SCK SPI1 +PB4 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 +PA4 MAG_CS CS +PB2 SPARE_CS CS + + +# ---------------------- I2C bus ------------------------ +I2C_ORDER I2C2 + +PB13 I2C2_SCL I2C2 +PB14 I2C2_SDA I2C2 + +define HAL_I2C_CLEAR_ON_TIMEOUT 0 +define HAL_I2C_INTERNAL_MASK 1 + + +# ---------------------- CAN bus ------------------------- +CAN_ORDER 1 + +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 +# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +define HAL_CAN_POOL_SIZE 6000 + +# ---------------------- UARTs --------------------------- +# | sr0 | MSP | GPS | +SERIAL_ORDER USART1 USART2 USART3 + +# USART1 for debug +PB6 USART1_TX USART1 SPEED_HIGH +PB7 USART1_RX USART1 SPEED_HIGH + +# USART2 for MSP +PA2 USART2_TX USART2 SPEED_HIGH +PA3 USART2_RX USART2 SPEED_HIGH + +# USART3 for GPS +PB10 USART3_TX USART3 SPEED_HIGH NODMA +PB11 USART3_RX USART3 SPEED_HIGH NODMA + +# allow for reboot command for faster development +define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0