From 5529ba36e235cf6520bb7219776fb83be14b17eb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 17 Mar 2021 14:47:06 +1100 Subject: [PATCH] HAL_ChibiOS: added HolybroGPS AP_Periph port --- .../hwdef/HolybroGPS/hwdef-bl.dat | 97 ++++++++++ .../AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat | 182 ++++++++++++++++++ 2 files changed, 279 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef-bl.dat new file mode 100644 index 0000000000..53f03ca225 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef-bl.dat @@ -0,0 +1,97 @@ +# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +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 1035 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# debug on USART2 +STDOUT_SERIAL SD2 +STDOUT_BAUDRATE 57600 + +# crystal frequency +OSCILLATOR_HZ 16000000 + +define CH_CFG_ST_FREQUENCY 1000000 + +# assume 512k flash part +FLASH_SIZE_KB 512 + +# order of UARTs +SERIAL_ORDER USART2 + +# workaround missing define in headers +define RCC_AHB1RSTR_OTGHRST 0x20000000 + +# blue LED +PB15 LED_BOOTLOADER OUTPUT HIGH +define HAL_LED_ON 0 + +# USART2 +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# 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 TRUE +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 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 +PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +PB12 CAN2_RX CAN2 +PB13 CAN2_TX CAN2 +PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +define CAN_APP_NODE_NAME "org.ardupilot.HolybroGPS" + +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 + +# make bl baudrate match debug baudrate for easier debugging +define BOOTLOADER_BAUDRATE 57600 + +# use a smaller bootloader timeout +define HAL_BOOTLOADER_TIMEOUT 2500 + +# reserve 256 bytes for comms between app and bootloader +RAM_RESERVE_START 256 + +# Add CS pins to ensure they are high in bootloader +PA8 ACC_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat new file mode 100644 index 0000000000..30551f087f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat @@ -0,0 +1,182 @@ +# hw definition file for processing by chibios_pins.py +# MCU class and specific type + +# MCU class and specific type +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 1035 + +# 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 + +# assume 512k flash part +FLASH_SIZE_KB 512 + +# debug on USART2 +STDOUT_SERIAL SD2 +STDOUT_BAUDRATE 57600 + +# order of UARTs +SERIAL_ORDER USART2 USART1 + +# sensor power control +PC15 VDD_3V3_SENSORS_EN OUTPUT HIGH + +# LEDs +PB15 LED OUTPUT HIGH GPIO(2) # blue +PA7 LED_R OUTPUT HIGH GPIO(0) +PB14 LED_G OUTPUT HIGH GPIO(1) + +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 0 +define HAL_GPIO_LED_OFF 1 + +define HAL_HAVE_PIXRACER_LED + +# USART1, GPS +PA9 USART1_TX USART1 NODMA +PA10 USART1_RX USART1 NODMA + +# USART2, debug +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# I2C1 bus +PB7 I2C1_SDA I2C1 +PB6 I2C1_SCL I2C1 + +# I2C2 bus +PB3 I2C2_SDA I2C2 +PB10 I2C2_SCL I2C2 + +define HAL_I2C_INTERNAL_MASK 3 + +# I2C buses +I2C_ORDER I2C1 I2C2 + +# one SPI bus +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PB5 SPI1_MOSI SPI1 + +# SPI CS +PA8 ACC_CS CS + +# version sense +PA0 HW_REV_SENSE INPUT +PA1 HW_VER_SENSE INPUT +PB1 HW_VER_REV_DRIVE INPUT + +# GPS PPS +PA15 GPS_PPS_IN INPUT + + +# SPI devices +SPIDEV bmi088_a SPI1 DEVID1 ACC_CS MODE3 10*MHZ 10*MHZ + +# compass +COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_90 + +# baro +BARO BMP388 I2C:0:0x77 + +# IMU +IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 + +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 + +PA11 CAN1_RX CAN1 +PA12 CAN1_TX CAN1 +PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +PB12 CAN2_RX CAN2 +PB13 CAN2_TX CAN2 +PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 + +define CAN_APP_NODE_NAME "org.ardupilot.HolybroGPS" + +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 + +# 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 + +# 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 + +# GPS on 2nd port +define HAL_PERIPH_GPS_PORT_DEFAULT 1 + +# enable NCP5623 on 2nd I2C bus +define BUILD_DEFAULT_LED_TYPE 128 + +# 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