HAL_ChibiOS: added Nucleo-L476 target

libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef-bl.dat

@@ -0,0 +1,86 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32L476 STM32L476xx
+
+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 1051
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency, no crystal for now
+OSCILLATOR_HZ 0
+
+# assume 256k flash part
+FLASH_SIZE_KB 256
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+# bootloader status LED
+PA5 LED_BOOTLOADER OUTPUT LOW # blue
+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 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
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+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.Nucleo-L476"

libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32L476 STM32L476xx
+
+# 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
+
+# board ID for firmware load
+APJ_BOARD_ID 1051
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 0
+
+# assume the 256k flash part
+FLASH_SIZE_KB 256
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+define HAL_CAN_POOL_SIZE 6000
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# USART1, telemetry
+PA9 USART1_TX USART1 SPEED_HIGH
+PA10 USART1_RX USART1 SPEED_HIGH
+
+# status LED
+PA5 LED OUTPUT LOW GPIO(1)
+define HAL_LED_ON 1
+
+# spi bus for IMU
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# one I2C bus. Pullups added to avoid having to add pullup resistors.
+# on production boards correct pullups are needed (between 1k and 2k Ohm)
+# and the pullup keyword omitted to use open drain
+PB10 I2C2_SCL I2C2 PULLUP
+PB11 I2C2_SDA I2C2 PULLUP
+
+I2C_ORDER I2C2
+
+# 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
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+CAN_ORDER 1
+
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+PA4 VSENSE ADC1 SCALE(2)
+
+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
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.Nucleo-L476"
+
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_GPS_PORT_DEFAULT 0
+
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_AIRSPEED
+