From 7aa968329c4a3f4c3ce8e4a6ebc4305b11ddce5b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 17 Oct 2021 10:18:41 +1100 Subject: [PATCH] HAL_ChibiOS: added Nucleo-L476 target --- .../hwdef/Nucleo-L476/hwdef-bl.dat | 86 ++++++++++++ .../hwdef/Nucleo-L476/hwdef.dat | 123 ++++++++++++++++++ 2 files changed, 209 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef-bl.dat new file mode 100644 index 0000000000..51dd230824 --- /dev/null +++ b/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" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat new file mode 100644 index 0000000000..2cc012be80 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat @@ -0,0 +1,123 @@ +# 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 +