From 1f16aa8360955abca08eb16d150095069420505b Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Fri, 31 Jul 2020 00:45:27 +0530
Subject: [PATCH] HAL_ChibiOS: add hwdef for CubeOrange-periph

---
 .../hwdef/CubeOrange-periph/hwdef-bl.dat      | 70 +++++++++++++++++++
 .../hwdef/CubeOrange-periph/hwdef.dat         | 69 ++++++++++++++++++
 2 files changed, 139 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat
new file mode 100644
index 0000000000..52678ef5ab
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat
@@ -0,0 +1,70 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1400
+
+FLASH_SIZE_KB 2048
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+define HAL_LED_ON 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7
+
+# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# Pin for PWM Voltage Selection
+PB4 PWM_VOLT_SEL OUTPUT HIGH
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# Add CS pins to ensure they are high in bootloader
+PC1 MAG_CS CS
+PC2 MPU_CS CS
+PC13 GYRO_EXT_CS CS
+PC14 BARO_EXT_CS CS
+PC15 ACCEL_EXT_CS CS
+PD7 BARO_CS CS
+PE4 MPU_EXT_CS CS
+PD10 FRAM_CS CS SPEED_VERYLOW
+
+# the first CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# This defines the pins for the 2nd CAN interface, if available.
+PB6 CAN2_TX CAN2
+PB12 CAN2_RX CAN2
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.CubeOrange-periph"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
new file mode 100644
index 0000000000..30ee6df194
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
@@ -0,0 +1,69 @@
+include ../CubeOrange/hwdef.dat
+
+undef COMPASS
+undef IOMCU_UART
+undef USART6
+undef ROMFS
+undef HAL_HAVE_SAFETY_SWITCH
+undef IMU
+undef HAL_CHIBIOS_ARCH_FMUV3
+# board ID for firmware load
+APJ_BOARD_ID 1400
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+define PERIPH_FW TRUE
+
+define HAL_BUILD_AP_PERIPH
+
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+
+# use the app descriptor needed by MissionPlanner for CAN upload
+env APP_DESCRIPTOR MissionPlanner
+
+# single GPS and compass for peripherals
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+
+define HAL_NO_GCS
+define HAL_NO_LOGGING
+define HAL_NO_MONITOR_THREAD
+
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define HAL_NO_RCIN_THREAD
+
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.CubeOrange-periph"
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+env DISABLE_SCRIPTING 1
+
+# use blue LED
+define HAL_GPIO_PIN_LED HAL_GPIO_PIN_FMU_LED_AMBER
+
+undef HAL_OS_FATFS_IO
+
+undef SDMMC1
+
+MAIN_STACK 0x2000
+PROCESS_STACK 0x6000
+
+define HAL_CAN_DRIVER_DEFAULT 1
\ No newline at end of file