From dcfd9f65869c6f614b44e42f7fa9668e71f836ec Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Mon, 11 Sep 2023 14:50:49 -0700
Subject: [PATCH] AP_HAL_ChibiOS: Add sw-nav-f405 target

Navlight board with a compass, requires #24945 for status light to work
---
 .../hwdef/sw-nav-f405/hwdef-bl.dat            | 38 +++++++++
 .../hwdef/sw-nav-f405/hwdef.dat               | 83 +++++++++++++++++++
 2 files changed, 121 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef-bl.dat
new file mode 100644
index 0000000000..069792922b
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef-bl.dat
@@ -0,0 +1,38 @@
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+APJ_BOARD_ID 6002
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+define CAN_APP_NODE_NAME "sw-nav-f405-bl"
+
+FLASH_RESERVE_START_KB 0
+FLASH_SIZE_KB 1024
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# jtag
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# status light
+PC4 LED_BOOTLOADER OUTPUT LOW GPIO(0)
+define HAL_LED_ON 1
+
+# strap LED/nav lights off
+PA3 LED_CTRL_VIS OUTPUT LOW GPIO(1) # vis light power
+PA1 LED_COLOR OUTPUT LOW GPIO(2)    # red/green
+PA2 LED_WHITE OUTPUT LOW GPIO(3)    # white
+PB0 LED_IR OUTPUT LOW GPIO(4)       # IR
+
+# can
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# disable serial
+define HAL_USE_SERIAL FALSE
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef.dat
new file mode 100644
index 0000000000..d4dac2c204
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/sw-nav-f405/hwdef.dat
@@ -0,0 +1,83 @@
+# hw definition file for f405 Matek CAN GPS
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+FLASH_SIZE_KB 1024
+
+# store parameters in pages 2 and 3
+STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 15360
+
+# board ID for firmware load
+APJ_BOARD_ID 6002
+
+define CAN_APP_NODE_NAME "sw-nav-f405"
+
+env AP_PERIPH 1
+
+define STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 32
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# status light, normally disabled so as to not confuse nav light functionality
+#PC4 LED OUTPUT LOW GPIO(0)
+#define HAL_LED_ON 1
+
+## debug
+#PA13 JTMS-SWDIO SWD
+#PA14 JTCK-SWCLK SWD
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# keep ROMFS uncompressed although we do have the runtime ram needed
+env ROMFS_UNCOMPRESSED True
+
+# i2c
+I2C_ORDER I2C1
+
+PB7 I2C1_SDA I2C1
+PB6 I2C1_SCL I2C1
+
+# can
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# disable serial
+define HAL_USE_SERIAL FALSE
+define HAL_NO_UARTDRIVER TRUE
+
+define HAL_USE_ADC FALSE
+
+# compass
+define HAL_PERIPH_ENABLE_MAG
+
+COMPASS MMC3416 I2C:0:0x30 false ROTATION_NONE
+
+define HAL_COMPASS_MAX_SENSORS 1
+
+# notify led
+define HAL_PERIPH_ENABLE_NOTIFY
+define HAL_PERIPH_ENABLE_RC_OUT
+
+define DEFAULT_NTF_LED_TYPES 131072 # discrete rgb led (1 << 17)
+
+define AP_NOTIFY_DISCRETE_RGB_ENABLED 1
+PA3 LED_CTRL_VIS OUTPUT HIGH GPIO(1) # vis light power
+PA1 LED_COLOR OUTPUT LOW GPIO(2)     # red/green
+PA2 LED_WHITE OUTPUT LOW GPIO(3)     # white
+PB0 LED_IR OUTPUT LOW GPIO(4)        # IR
+
+define DISCRETE_RGB_RED_PIN 3
+define DISCRETE_RGB_GREEN_PIN 2
+define DISCRETE_RGB_BLUE_PIN 4
+define DISCRETE_RGB_POLARITY true
+
+# don't build on firmware.ardupilot.org
+AUTOBUILD_TARGETS None