AP_HAL_ChibiOS: Add hwdef for TrueNavPro-G4

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat

@@ -0,0 +1,56 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 32
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+FLASH_SIZE_KB 256
+
+# board ID for firmware load
+APJ_BOARD_ID 5301
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# blue LED
+PA4 LED_BOOTLOADER OUTPUT HIGH
+define HAL_LED_ON 1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+define DMA_RESERVE_SIZE 0
+define HAL_DISABLE_LOOP_DELAY
+define HAL_USE_SERIAL FALSE
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a smaller bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 2500
+
+# Add CS pins to ensure they are high in bootloader
+PA9 RM3100_CS CS
+PA10 DPS310_CS CS
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro-G4"

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat

@@ -0,0 +1,111 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+FLASH_RESERVE_START_KB 36
+
+STORAGE_FLASH_PAGE 16
+define HAL_STORAGE_SIZE 800
+
+# board ID for firmware load
+APJ_BOARD_ID 5301
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+FLASH_SIZE_KB 256
+
+# order of UARTs
+SERIAL_ORDER EMPTY USART2
+
+# USART2, GPS
+PB3 USART2_TX USART2
+PB4 USART2_RX USART2
+
+# USART1, debug, disabled to save flash
+# PB6 USART1_TX USART1
+# PB7 USART1_RX USART1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# one SPI bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI CS
+PA9 RM3100_CS CS
+PA10 DPS310_CS CS
+
+# GPS PPS
+PA15 GPS_PPS_IN INPUT
+
+# Baro probe
+SPIDEV dps310 SPI1 DEVID3 DPS310_CS MODE3 5*MHZ 5*MHZ
+BARO DPS310 SPI:dps310
+
+# Mag probe
+SPIDEV  rm3100 SPI1 DEVID1   RM3100_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
+define AP_RM3100_REVERSAL_MASK 7
+
+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
+define HAL_NO_MONITOR_THREAD
+
+define HAL_DEVICE_THREAD_STACK 768
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PA2 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+
+# 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+LEDs
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
+define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
+define DEFAULT_NTF_LED_TYPES 455
+
+# single baro
+define BARO_MAX_INSTANCES 1
+
+# GPS on 1st port
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# PWM, WS2812 LED
+PA3 TIM2_CH4 TIM2 PWM(1)
+
+DMA_NOSHARE USART2*