HAL_ChibiOS: added Sierra-L431 peripheral

libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef-bl.dat

@@ -0,0 +1,104 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# board ID for firmware load
+APJ_BOARD_ID 1050
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# assume 256k flash part
+FLASH_SIZE_KB 256
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER USART1 USART2
+
+# a fault LED
+PB0 LED_BOOTLOADER OUTPUT LOW # blue
+define HAL_LED_ON 1
+
+PB14 LED_RED OUTPUT LOW GPIO(1)
+
+# USART1
+PA9  USART1_TX USART1 SPEED_HIGH NODMA
+PA10 USART1_RX USART1 SPEED_HIGH NODMA
+
+# USART2
+PA2 USART2_TX USART2 SPEED_HIGH NODMA
+PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+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 HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+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
+PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+CAN_ORDER 1
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# 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
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.Sierra-L431"
+
+# Enable the GPS voltage pin
+PC13 GPS_EN OUTPUT HIGH
+
+# Enable the sensor voltage pin
+PC12 SENSOR_EN OUTPUT HIGH
+
+# Add CS pins to ensure they are high in bootloader
+#PC6 MPU_CS CS
+PA8 BARO_CS CS

libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat

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+g# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 40
+
+# store parameters in pages 18 and 19
+define 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 1050
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# assume the 256k flash part
+FLASH_SIZE_KB 256
+
+# order of UARTs
+SERIAL_ORDER USART1 USART2
+
+define HAL_CAN_POOL_SIZE 6000
+
+#STDOUT_SERIAL SD1
+#STDOUT_BAUDRATE 57600
+
+# USART1 Debug
+PA9 USART1_TX USART1 SPEED_HIGH
+PA10 USART1_RX USART1 SPEED_HIGH
+
+# USART2 M9N
+PA2 USART2_TX USART2 SPEED_HIGH
+PA3 USART2_RX USART2 SPEED_HIGH
+
+# LEDs
+PB0 LED OUTPUT LOW GPIO(1)
+
+# a fault LED
+# PB14 LED_FAULT OUTPUT LOW # red
+
+# SPI1 bus for Baro
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA8 BARO_CS CS
+
+SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
+BARO DPS280 SPI:dps310
+
+#SPIDEV Invensensev2 SPI2 DEVID2 IMU_CS  MODE3  2*MHZ  8*MHZ
+
+# QMC5883L
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+I2C_ORDER I2C1
+
+# compass
+COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 2048
+
+define PERIPH_FW TRUE
+
+# stack for fast interrupts
+define PORT_INT_REQUIRED_STACK 64
+
+# MAIN_STACK is stack for ISR handlers
+MAIN_STACK 0x300
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0x800
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+CAN_ORDER 1
+
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+PA4 VSENSE ADC1 SCALE(2)
+
+define HAL_GCS_ENABLED 0
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_LOGGING
+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
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.Sierra-L431"
+
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_AIRSPEED
+
+#BARO MS56XX SPI:ms5611
+#BARO BMP388 I2C:0:0x76
+
+# define HAL_SPI_CHECK_CLOCK_FREQ
+
+# WS2812 LED
+PA15 TIM2_CH1 TIM2 PWM(1)
+PB11 TIM2_CH4 TIM2 PWM(2)
+