From 758ce2699e224d39bcecc8a2ffb679cc2489f18a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 4 Sep 2021 09:58:12 +1000 Subject: [PATCH] HAL_ChibiOS: added Hitec-Airspeed hwdef --- .../hwdef/Hitec-Airspeed/hwdef-bl.dat | 89 ++++++++++++ .../hwdef/Hitec-Airspeed/hwdef.dat | 127 ++++++++++++++++++ 2 files changed, 216 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef-bl.dat new file mode 100644 index 0000000000..76ac68964a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef-bl.dat @@ -0,0 +1,89 @@ +# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32G441 STM32G441xx + +FLASH_RESERVE_START_KB 0 +FLASH_BOOTLOADER_LOAD_KB 22 + +# reserve some space for params +APP_START_OFFSET_KB 4 + +# board ID for firmware load +APJ_BOARD_ID 1046 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# crystal frequency, no crystal for now +OSCILLATOR_HZ 24000000 + +# assume 128k flash part +FLASH_SIZE_KB 128 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# order of UARTs +SERIAL_ORDER USART1 + +# a fault LED +PA6 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 1 + +# USART1 +PB6 USART1_TX USART1 SPEED_HIGH NODMA +PB7 USART1_RX USART1 SPEED_HIGH NODMA + +define HAL_USE_SERIAL TRUE + +define STM32_SERIAL_USE_USART1 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 + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# make bl baudrate match debug baudrate for easier debugging +define BOOTLOADER_BAUDRATE 57600 + +# define BOOTLOADER_DEBUG SD1 + +# 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.Hitec-Airspeed" + +# Add CS pins to ensure they are high in bootloader +PB12 IMU_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat new file mode 100644 index 0000000000..79fa4693aa --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat @@ -0,0 +1,127 @@ +# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32G441 STM32G441xx + +# bootloader starts firmware at 22k + 4k (STORAGE_FLASH) +FLASH_RESERVE_START_KB 26 + +# store parameters in pages 11 and 12 +define STORAGE_FLASH_PAGE 11 +define HAL_STORAGE_SIZE 800 + +# board ID for firmware load +APJ_BOARD_ID 1046 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# enable watchdog +define HAL_WATCHDOG_ENABLED_DEFAULT true + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# assume the 128k flash part +FLASH_SIZE_KB 128 + +# order of UARTs +SERIAL_ORDER USART1 + +define HAL_CAN_POOL_SIZE 6000 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# USART1, telemetry +PB6 USART1_TX USART1 SPEED_HIGH +PB7 USART1_RX USART1 SPEED_HIGH + +# LEDs +PA10 LED OUTPUT LOW + +# a fault LED +PA6 LED_FAULT OUTPUT LOW + +# 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 64 + +define NO_DATAFLASH TRUE + +define DMA_RESERVE_SIZE 512 + +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 + +# only one I2C bus in normal config +PA15 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +define HAL_USE_I2C TRUE +define STM32_I2C_USE_I2C1 TRUE +I2C_ORDER I2C1 +define HAL_I2C_CLEAR_ON_TIMEOUT 0 +define HAL_I2C_INTERNAL_MASK 0 + +define HAL_USE_ADC FALSE +define STM32_ADC_USE_ADC1 FALSE +define HAL_DISABLE_ADC_DRIVER TRUE + +define HAL_NO_GCS +define HAL_NO_MONITOR_THREAD + +define HAL_MINIMIZE_FEATURES 0 + +define HAL_BUILD_AP_PERIPH + +define HAL_DEVICE_THREAD_STACK 0x200 +define STORAGE_THD_WA_SIZE 512 +define IO_THD_WA_SIZE 512 + +define AP_PARAM_MAX_EMBEDDED_PARAM 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 + +# keep ROMFS uncompressed as we don't have enough RAM +# to uncompress the bootloader at runtime +env ROMFS_UNCOMPRESSED True + +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 + +define CAN_APP_NODE_NAME "org.ardupilot.Hitec-Airspeed" + +# don't share any DMA channels (there are enough for everyone) +DMA_NOSHARE * + +# default to DLVR 10in +AIRSPEED DLVR I2C:0:0x28 10 +define AIRSPEED_MAX_SENSORS 1 +define HAL_AIRSPEED_BUS_DEFAULT 0 +define HAL_PERIPH_ENABLE_AIRSPEED +define HAL_AIRSPEED_TYPE_DEFAULT 9