diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef-bl.dat new file mode 100644 index 0000000000..983481f5a3 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef-bl.dat @@ -0,0 +1,45 @@ +# hw definition file AeroFox_GNSS_F9P CAN node +# MCU class and specific type +MCU STM32L431 STM32L431xx +APJ_BOARD_ID 1109 + +define CAN_APP_NODE_NAME "org.ardupilot.AeroFox_GNSS_F9P" + +OSCILLATOR_HZ 8000000 + +env AP_PERIPH 1 + +FLASH_RESERVE_START_KB 0 +FLASH_BOOTLOADER_LOAD_KB 36 +FLASH_SIZE_KB 256 + +APP_START_OFFSET_KB 4 + +PB3 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 +# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +CAN_ORDER 1 + +define BOOTLOADER_BAUDRATE 57600 +define HAL_BOOTLOADER_TIMEOUT 1000 + +define HAL_USE_SERIAL FALSE +define HAL_NO_GPIO_IRQ +define SERIAL_BUFFERS_SIZE 32 +define HAL_USE_EMPTY_IO TRUE +define PORT_INT_REQUIRED_STACK 64 +define DMA_RESERVE_SIZE 0 + +MAIN_STACK 0x800 +PROCESS_STACK 0x800 + +define HAL_DISABLE_LOOP_DELAY +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +PA4 MAG_CS CS +PB2 SPARE_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat new file mode 100644 index 0000000000..f56700a712 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat @@ -0,0 +1,118 @@ +# MCU class and specific type +MCU STM32L431 STM32L431xx + +define CAN_APP_NODE_NAME "org.ardupilot.AeroFox_GNSS_F9P" + +# bootloader starts firmware at 36k + 4k (STORAGE_FLASH) +FLASH_RESERVE_START_KB 40 +FLASH_SIZE_KB 256 + +# store parameters in pages 18 and 19 +STORAGE_FLASH_PAGE 18 +define HAL_STORAGE_SIZE 800 + +# ChibiOS system timer +STM32_ST_USE_TIMER 15 +define CH_CFG_ST_RESOLUTION 16 + +# board ID for firmware load +APJ_BOARD_ID 1109 + +# crystal frequency +OSCILLATOR_HZ 8000000 +env AP_PERIPH 1 +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +define HAL_NO_GPIO_IRQ +define SERIAL_BUFFERS_SIZE 512 +define PORT_INT_REQUIRED_STACK 64 +define DMA_RESERVE_SIZE 0 + +# MAIN_STACK is stack for ISR handlers +MAIN_STACK 0x300 + +# PROCESS_STACK controls stack for main thread +PROCESS_STACK 0xA00 +define HAL_DISABLE_LOOP_DELAY +define HAL_GCS_ENABLED 0 +define HAL_NO_MONITOR_THREAD +define HAL_NO_LOGGING + +# we setup a small defaults.parm +define AP_PARAM_MAX_EMBEDDED_PARAM 512 + +# blue LED0 marked as ACT +PB3 LED OUTPUT HIGH +define HAL_LED_ON 1 + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# I2C bus +I2C_ORDER I2C2 +PB13 I2C2_SCL I2C2 +PB14 I2C2_SDA I2C2 +define HAL_I2C_CLEAR_ON_TIMEOUT 0 +define HAL_I2C_INTERNAL_MASK 1 + +# CAN bus +CAN_ORDER 1 +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 +# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +define HAL_CAN_POOL_SIZE 12000 + +# UARTs +SERIAL_ORDER USART1 EMPTY EMPTY + +# USART1 +PB6 USART1_TX USART1 SPEED_HIGH +PB7 USART1_RX USART1 SPEED_HIGH + +# allow for reboot command for faster development +define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 + +# keep ROMFS uncompressed as we don't have enough RAM +# to uncompress the bootloader at runtime +env ROMFS_UNCOMPRESSED True + +# enable GPS and compass +define HAL_PERIPH_ENABLE_GPS +define GPS_MAX_RATE_MS 200 +define GPS_MAX_RECEIVERS 1 +define GPS_MAX_INSTANCES 1 +define HAL_PERIPH_GPS_PORT_DEFAULT 0 + +# allow for F9P GPS modules with moving baseline +define GPS_MOVING_BASELINE 1 +define HAL_PERIPH_ENABLE_MAG +define HAL_COMPASS_MAX_SENSORS 1 + +# QMC5883L for different board varients +COMPASS QMC5883L I2C:0:0xd false ROTATION_YAW_180 + +# no ADC pins +define HAL_USE_ADC FALSE + +# disable unnecessary threads +define HAL_NO_MONITOR_THREAD +define HAL_NO_RCIN_THREAD +define HAL_NO_TIMER_THREAD + +# enable LED +define HAL_PERIPH_ENABLE_RC_OUT +define HAL_PERIPH_ENABLE_NOTIFY + +#GPIO LED +define HAL_HAVE_PIXRACER_LED +PB2 LED_RED OUTPUT OPENDRAIN HIGH GPIO(0) +PB4 LED_GREEN OUTPUT OPENDRAIN LOW GPIO(1) +PB5 LED_BLUE 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 +