diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat new file mode 100644 index 0000000000..b2e5219382 --- /dev/null +++ b/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" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat new file mode 100644 index 0000000000..a54725dffb --- /dev/null +++ b/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*