HAL_ChibiOS: Add hwdef for BirdCANdy

Tools/AP_Bootloader/board_types.txt

@@ -130,6 +130,7 @@ AP_HW_Nucleo491                      1040
 AP_HW_mRoM10095                      1041
 AP_HW_FlywooF745Nano                 1042
 AP_HW_HEREID                         1043
+AP_HW_BirdCANdy                      1044
 
 AP_HW_CUBEORANGE_PERIPH              1400
 AP_HW_CUBEBLACK_PERIPH               1401

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

@@ -0,0 +1,91 @@
+# hw definition file for processing by chibios_pins.py
+# hardware repository: https://github.com/FlyfocusUAV/Bird-CANdy
+
+# MCU class and specific type
+# note: the device is STM32F412CE, not all F412 pins are available
+MCU STM32F4xx STM32F412Rx
+
+FLASH_RESERVE_START_KB 0
+# two sectors for bootloader, two for storage
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# board ID for firmware load
+APJ_BOARD_ID 1044
+
+# 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
+
+STDOUT_SERIAL SD6
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER
+
+# CANdy pin 19
+PA5 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+# CANdy pins 15, 16
+# USART6
+PA11 USART6_TX USART6
+PA12 USART6_RX USART6
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART1 FALSE
+define STM32_SERIAL_USE_USART2 FALSE
+define STM32_SERIAL_USE_USART3 FALSE
+define STM32_SERIAL_USE_USART4 FALSE
+define STM32_SERIAL_USE_USART5 FALSE
+define STM32_SERIAL_USE_USART6 TRUE
+
+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 HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+define CAN_APP_NODE_NAME "org.ardupilot.birdcandy"
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256

libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat

@@ -0,0 +1,140 @@
+# hw definition file for processing by chibios_pins.py
+# hardware repository: https://github.com/FlyfocusUAV/Bird-CANdy
+
+# MCU class and specific type
+# note: the device is STM32F412CE, not all F412 pins are available
+MCU STM32F4xx STM32F412Rx
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+
+# store parameters in pages 2 and 3
+define STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 8192
+
+# board ID for firmware load
+APJ_BOARD_ID 1044
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+STM32_ST_USE_TIMER 5
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+FLASH_SIZE_KB 512
+
+# order of UARTs
+SERIAL_ORDER EMPTY EMPTY EMPTY EMPTY EMPTY USART6
+
+# ------ RCOUT pins ------
+
+PA15 TIM2_CH1  TIM2 PWM(1) GPIO(50)
+PB3  TIM2_CH2  TIM2 PWM(2) GPIO(51)
+PB4  TIM3_CH1  TIM3 PWM(3) GPIO(52)
+PB5  TIM3_CH2  TIM3 PWM(4) GPIO(53)
+
+# ------ alternate functions for RCOUT pins ------
+
+# CANdy pins 10, 11
+# USART1 for debug
+# PA15 USART1_TX USART1
+# PB3 USART1_RX USART1
+# define HAL_SERIAL0_BAUD_DEFAULT 57600
+
+# ------ end RCOUT pins ------
+
+# CANdy pins 15, 16
+# USART6 for GPS
+PA11 USART6_TX USART6
+PA12 USART6_RX USART6
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CANdy pins 21, 22
+PB7 I2C1_SDA I2C1
+PB6 I2C1_SCL I2C1
+
+define HAL_USE_I2C TRUE
+define STM32_I2C_USE_I2C1 TRUE
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+
+define HAL_I2C_INTERNAL_MASK 0
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+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 NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.birdcandy"
+
+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 768
+
+define AP_PARAM_MAX_EMBEDDED_PARAM 0
+
+# 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
+
+# RCOU+GPS+MAG+BARO+Buzzer+NeoPixels
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_BUZZER
+define HAL_PERIPH_NEOPIXEL_COUNT 8
+define HAL_PERIPH_NEOPIXEL_CHAN 0
+define AP_PERIPH_LED_BRIGHT_DEFAULT 50
+
+# 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