hwdef: added C-RTK2-HP AP_Periph

this is a UM982 Unicore GPS from CUAV with support for dual-antenna
GPS yaw

libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef-bl.dat

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+# 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 1085
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER
+
+# use safety button to stay in bootloader
+PB3 STAY_IN_BOOTLOADER INPUT PULLDOWN
+define HAL_STAY_IN_BOOTLOADER_VALUE 1
+
+PB0 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+# USART1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# 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 TRUE
+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
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+define CAN_APP_NODE_NAME "org.ardupilot.C-RTK2-HP"
+
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000

libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# MCU class and specific type
+
+# MCU class and specific type
+MCU STM32F4xx STM32F412Rx
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+
+# store parameters in pages 2 and 3
+STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 8192
+
+# board ID for firmware load
+APJ_BOARD_ID 1085
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+STM32_ST_USE_TIMER 5
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER USART1 EMPTY EMPTY USART2
+
+# a LED to flash
+PB0 LED OUTPUT LOW
+
+# USART1 for debug
+PB6 USART1_TX USART1 NODMA
+PB7 USART1_RX USART1 NODMA
+define HAL_SERIAL0_BAUD_DEFAULT 57600
+
+# USART2 for GPS
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# safety LED, active low
+PB1 SAFE_LED OUTPUT HIGH
+define SAFE_LED_ON 0
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_NO_GPIO_IRQ
+
+# avoid RCIN thread to save memory
+define HAL_NO_RCIN_THREAD
+define HAL_USE_RTC FALSE
+
+define DMA_RESERVE_SIZE 0
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+# RTK reset
+PA4 RTK_RESET_N OUTPUT HIGH
+
+# PPS
+PA7 PPS INPUT PULLUP
+
+define CAN_APP_NODE_NAME "org.ardupilot.C-RTK2-HP"
+
+define HAL_NO_MONITOR_THREAD
+
+define HAL_DEVICE_THREAD_STACK 768
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+
+define HAL_PERIPH_ENABLE_GPS
+define GPS_MOVING_BASELINE 1
+
+define AP_GPS_BACKEND_DEFAULT_ENABLED 0
+define AP_GPS_NMEA_ENABLED 1
+define AP_GPS_NMEA_UNICORE_ENABLED 1
+
+# custom config once sensor is found
+define AP_GPS_NMEA_CUSTOM_CONFIG_STRING "CONFIG COM1 230400 8 N 1"
+
+# custom config for GPS probe
+define NMEA_UNICORE_SETUP "CONFIG COM1 230400 8 n 1\r\nGPGGA 0.2\r\n"