AP_HAL_ChibiOS: Sierra-F412 support

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/defaults.parm

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+# setup for Neopixel
+OUT3_FUNCTION 120
+OUT4_FUNCTION 121
+NTF_LED_TYPES 455
+NTF_LED_BRIGHT 2
+NTF_LED_LEN 8
+

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+
+# Sierra-M9N Bootloader
+
+# 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 1055
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# Flash available
+FLASH_SIZE_KB 1024
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# Enable the sensor voltage pin
+PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# order of UARTs
+SERIAL_ORDER
+
+# USART1
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F412"
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# Add CS pins to ensure they are high in bootloader
+PB12 MAG_CS CS
+PA8 BARO_CS CS
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+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
+
+# 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/Sierra-F412/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+
+# Sierra-M9N Firmware
+
+# MCU class and specific type
+MCU STM32F4xx STM32F412Rx
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+
+# store parameters in pages 2 and 3
+define STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 8192
+
+# board ID for firmware load
+APJ_BOARD_ID 1055
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+STM32_ST_USE_TIMER 5
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# Flash available
+FLASH_SIZE_KB 1024
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER USART1 EMPTY EMPTY USART2
+
+# USART1 for debug
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+define HAL_SERIAL0_BAUD_DEFAULT 57600
+
+# Enable the sensor voltage pin
+PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# USART2 for GPS
+PA2 USART2_TX USART2 SPEED_HIGH
+PA3 USART2_RX USART2 SPEED_HIGH
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI sensors
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI CS
+PB12 MAG_CS CS
+PA8 BARO_CS CS
+
+# Baro probe
+SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
+BARO DPS310 SPI:dps310
+
+# Mag probe
+SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
+
+# PWM, WS2812 LED
+PB8 TIM4_CH3 TIM4 PWM(1) GPIO(50)
+PB9 TIM4_CH4 TIM4 PWM(2) GPIO(51)
+PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52)
+PB4 TIM3_CH1 TIM3 PWM(4) GPIO(53)
+
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+#define HAL_DISABLE_ADC_DRIVER TRUE
+PA0 VSENSE ADC1 SCALE(2)
+
+define HAL_NO_GPIO_IRQ
+
+# avoid RCIN thread to save memory
+define HAL_NO_RCIN_THREAD
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define DMA_RESERVE_SIZE 0
+define PERIPH_FW TRUE
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F412"
+
+define HAL_NO_MONITOR_THREAD
+define HAL_MINIMIZE_FEATURES 0
+define HAL_BUILD_AP_PERIPH
+define HAL_DEVICE_THREAD_STACK 768
+
+# disable dual GPS and GPS blending to save flash space
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+
+# GPS+MAG+BARO+Buzzer+NeoPixels
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_GPS_PORT_DEFAULT 3
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+
+# 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
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+#GPS M9N
+PC11 M9EXTINT INPUT
+PC10 M9RST INPUT
+PC8 GPS_PPS_IN INPUT
+PC7 M9SB INPUT