hwdef: added rGNSS GPS peripheral

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

@@ -0,0 +1,81 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+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 256
+
+# board ID for firmware load
+APJ_BOARD_ID 1103
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# debug on USART1
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+# blue LED
+PA1 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 FALSE
+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 HAL_NO_RCIN_THREAD
+
+define DMA_RESERVE_SIZE 0
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define CAN_APP_NODE_NAME "org.ardupilot.rGNSS"
+
+# 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
+PB0 MAG_CS CS

libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat

@@ -0,0 +1,143 @@
+# hw definition file for processing by chibios_pins.py
+# MCU class and specific type
+
+AUTOBUILD_TARGETS None
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+FLASH_RESERVE_START_KB 36
+
+STORAGE_FLASH_PAGE 16
+define HAL_STORAGE_SIZE 800
+
+# board ID for firmware load
+APJ_BOARD_ID 1103
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+FLASH_SIZE_KB 512
+
+# order of UARTs
+SERIAL_ORDER USART2
+
+# sensor power control
+PA4 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# LEDs
+PA0 LED_RED OUTPUT LOW GPIO(0)
+PA2 LED_GREEN OUTPUT LOW GPIO(1)
+PA1 LED_BLUE OUTPUT LOW GPIO(2)
+PA3 LED_SAFETY OUTPUT LOW
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+define HAL_GPIO_LED_ON  1
+define HAL_GPIO_LED_OFF 0
+
+define HAL_HAVE_PIXRACER_LED
+
+# USART2, GPS
+PB3 USART2_TX USART2
+PB4 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
+PA8 I2C2_SDA I2C2
+PA9 I2C2_SCL I2C2
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# I2C buses
+I2C_ORDER I2C2
+
+# one SPI bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI CS
+PB0  MAG_CS CS
+
+# GPS PPS
+PA10 GPS_PPS_IN INPUT
+
+# SPI devices
+SPIDEV rm3100 SPI1 DEVID1 MAG_CS  MODE3   2*MHZ    8*MHZ
+
+# compass
+COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
+
+# baro
+BARO BMP388 I2C:0:0x77
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_NO_GPIO_IRQ
+
+# avoid RCIN thread to save memory
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define CAN_APP_NODE_NAME "org.ardupilot.rGNSS"
+
+define HAL_NO_LOGGING
+define HAL_NO_MONITOR_THREAD
+
+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
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_NOTIFY
+define HAL_PERIPH_ENABLE_RC_OUT
+
+# single baro
+define BARO_MAX_INSTANCES 1
+
+# GPS on 1st port
+define HAL_PERIPH_GPS_PORT_DEFAULT 0
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True