diff --git a/Tools/bootloaders/ARK_RTK_GPS_bl.bin b/Tools/bootloaders/ARK_RTK_GPS_bl.bin new file mode 100755 index 0000000000..32aaef4daa Binary files /dev/null and b/Tools/bootloaders/ARK_RTK_GPS_bl.bin differ diff --git a/Tools/bootloaders/ARK_RTK_GPS_bl.hex b/Tools/bootloaders/ARK_RTK_GPS_bl.hex new file mode 100644 index 0000000000..120b7a74c6 Binary files /dev/null and b/Tools/bootloaders/ARK_RTK_GPS_bl.hex differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef-bl.dat new file mode 100644 index 0000000000..2339a3aac1 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef-bl.dat @@ -0,0 +1,78 @@ +# 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 82 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# assume 512k flash part +FLASH_SIZE_KB 512 + +STDOUT_SERIAL SD2 +STDOUT_BAUDRATE 57600 + +# order of UARTs +SERIAL_ORDER + +# use safety button to stay in bootloader +PB15 STAY_IN_BOOTLOADER INPUT PULLDOWN +define HAL_STAY_IN_BOOTLOADER_VALUE 1 + +PA10 LED_BOOTLOADER OUTPUT LOW +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 DMA_RESERVE_SIZE 0 + +define HAL_DISABLE_LOOP_DELAY + +# enable CAN support +PA11 CAN1_RX CAN1 +PA12 CAN1_TX CAN1 +PB12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PB13 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH + +define HAL_USE_CAN TRUE +define STM32_CAN_USE_CAN1 TRUE + +define CAN_APP_NODE_NAME "org.ardupilot.ARK_RTK_GPS" + +# make bl baudrate match debug baudrate for easier debugging +define BOOTLOADER_BAUDRATE 57600 + +# use a small bootloader timeout +define HAL_BOOTLOADER_TIMEOUT 1000 + +# Add CS pins to ensure they are high in bootloader +PB0 IMU_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat new file mode 100644 index 0000000000..649b49a760 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat @@ -0,0 +1,137 @@ +# hw definition file for processing by chibios_pins.py +# hardware repository: https://github.com/ARK-Electronics/ARK_RTK_GPS + +# MCU class and specific type +# note: the device is STM32F412CE, not all F412 pins are available +MCU STM32F4xx STM32F412Rx + +# board ID for firmware load +APJ_BOARD_ID 82 + +env AP_PERIPH 1 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# bootloader starts firmware at 64k +FLASH_RESERVE_START_KB 64 + +# assume 512k flash size +FLASH_SIZE_KB 512 + +# order of I2C buses +I2C_ORDER I2C1 I2C2 + +define HAL_I2C_INTERNAL_MASK 3 + +# order of UARTs +# SERIAL_ORDER can be empty - only used to update firmware with uart in addition to can +SERIAL_ORDER USART2 USART1 + +# pin definitions +# PWM output for buzzer +PA0 TIM2_CH1 TIM2 GPIO(77) LOW ALARM + +# safety LED, active low +PA1 SAFE_LED OUTPUT HIGH +define SAFE_LED_ON 0 + +# USART1 for GPS with DMA +undef PA15 +undef PB3 +PA15 USART1_TX USART1 SPEED_HIGH +PB3 USART1_RX USART1 SPEED_HIGH + +# GPS PPS +PB2 GPS_PPS_IN INPUT + +# USART2 debug +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# SPI bus +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# LEDs +PA8 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0) +PA9 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1) +PA10 LED_B1 OUTPUT OPENDRAIN LOW GPIO(2) + +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 + +# use pixracer style 3-LED indicators +define HAL_HAVE_PIXRACER_LED + +# CAN bus +PA11 CAN1_RX CAN1 +PA12 CAN1_TX CAN1 + +# pins for SWD debugging with a STlink or black-magic probe. +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# CS and DRDY +PB0 MPU_CS CS +PB1 MPU_DRDY INPUT + +# I2C bus for magnetometer +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# SPI1 FSYNC for ICM42688p +# PB8 TIM10_CH1 TIM10 + +# I2C bus for barometer +PB9 I2C2_SDA I2C2 +PB10 I2C2_SCL I2C2 + +PB12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +PB13 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH + +# magnetometer +COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE + +# barometer +BARO BMP388 I2C:1:0x76 + +# store parameters in pages 2 and 3 +STORAGE_FLASH_PAGE 2 +define HAL_STORAGE_SIZE 8192 + +# no ADC pins +define HAL_USE_ADC FALSE + +# safety button +PB15 SAFE_BUTTON INPUT PULLDOWN + +# allow for F9P GPS modules with moving baseline +define GPS_MOVING_BASELINE 1 +define GPS_MAX_RATE_MS 200 + +# larger CAN pool for RTCM data +undef HAL_CAN_POOL_SIZE +define HAL_CAN_POOL_SIZE 12000 + +define GPS_MAX_RECEIVERS 1 +define GPS_MAX_INSTANCES 1 +define HAL_COMPASS_MAX_SENSORS 1 +define HAL_PERIPH_ENABLE_GPS +define HAL_PERIPH_ENABLE_MAG +define HAL_PERIPH_ENABLE_BARO +define HAL_PERIPH_ENABLE_BUZZER +define HAL_PERIPH_ENABLE_NOTIFY + +# GPS on 2nd port +define HAL_PERIPH_GPS_PORT_DEFAULT 1 + +define CAN_APP_NODE_NAME "org.ardupilot.ARK_RTK_GPS"