HAL_ChibiOS: added mRo-M10095 G491 peripheral

libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef-bl.dat

@@ -0,0 +1,76 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G491 STM32G491xx
+
+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 1041
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# assume 256k flash part
+FLASH_SIZE_KB 256
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+# a fault LED
+PA4 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 HAL_USE_EMPTY_IO TRUE
+
+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
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# 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.mRo-M10095"

libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat

@@ -0,0 +1,109 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "io.mrobotics.mRo-M10095"
+
+# 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
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# assume the 512k flash part
+FLASH_SIZE_KB 512
+
+# board ID for firmware load
+APJ_BOARD_ID 1041
+
+define HAL_CAN_POOL_SIZE 6000
+
+# LEDs
+PA4 LED OUTPUT HIGH
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Order of I2C buses
+I2C_ORDER I2C1
+
+# this board only has a single I2C bus so make it external
+define HAL_I2C_INTERNAL_MASK 0
+
+# Now the first I2C bus. The pin speeds are automatically setup
+# correctly, but can be overridden here if needed.
+PA15 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# an I2C baro (DPS310)
+BARO DPS280 I2C:0:0x77
+
+define HAL_PERIPH_ENABLE_BARO
+
+PA0 VSENSE50  ADC1 SCALE(3)
+PA1 VSENSE3v3 ADC1 SCALE(2)
+
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 2048
+
+define PERIPH_FW TRUE
+
+define HAL_USE_ADC TRUE
+
+define STM32_ADC_USE_ADC1 TRUE
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# USART1, telemetry
+PA9 USART1_TX USART1 SPEED_HIGH
+PA10 USART1_RX USART1 SPEED_HIGH
+
+# stack for fast interrupts
+define PORT_INT_REQUIRED_STACK 64
+
+define HAL_DISABLE_LOOP_DELAY
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+define HAL_NO_GCS
+define HAL_NO_MONITOR_THREAD
+
+define HAL_MINIMIZE_FEATURES 0
+
+define HAL_BUILD_AP_PERIPH
+
+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
+
+# don't share any DMA channels (there are enough for everyone)
+DMA_NOSHARE *