HAL_ChibiOS: added Matek CAN GPS

supports GPS, baro, mag and airspeed

libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef-bl.dat

@@ -0,0 +1,104 @@
+# hw definition file f303 Matek CAN GPS
+
+# MCU class and specific type
+MCU STM32F303 STM32F303xC
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 26
+
+# board ID for firmware load
+APJ_BOARD_ID 1004
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define CH_CFG_ST_FREQUENCY 1000
+
+# assume 256k flash part
+FLASH_SIZE_KB 256
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+
+# order of UARTs
+SERIAL_ORDER
+define HAL_USE_UART FALSE
+
+PA4 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+# USART1
+PA9  USART1_TX USART1 SPEED_HIGH NODMA
+PA10 USART1_RX USART1 SPEED_HIGH NODMA
+
+# USART2
+PA2 USART2_TX USART2 SPEED_HIGH NODMA
+PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+# USART3
+PB10 USART3_TX USART3 SPEED_HIGH NODMA
+PB11 USART3_RX USART3 SPEED_HIGH NODMA
+
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART1 TRUE
+define STM32_SERIAL_USE_USART2 TRUE
+define STM32_SERIAL_USE_USART3 FALSE
+
+PA13 SWDIO-JTMS SWD
+PA14 SWCLK-JTCK SWD
+
+define HAL_NO_GPIO_IRQ
+define CH_CFG_ST_TIMEDELTA 0
+#define CH_CFG_USE_DYNAMIC FALSE
+define SERIAL_BUFFERS_SIZE 32
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable CAN support
+PA11 CAN_RX CAN
+PA12 CAN_TX CAN
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+# use PB6 (normally I2C1_SCL) as "hold in bootloader" pin
+# this has a hw pullup, so if we set it as input floating
+# and look for it low then we know user has pulled it down and
+# want to stay in the bootloader
+PB6 STAY_IN_BOOTLOADER INPUT FLOATING
+
+# 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.f303_MatekGPS"

libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat

@@ -0,0 +1,155 @@
+# hw definition file for f303 Matek CAN GPS
+
+# MCU class and specific type
+MCU STM32F303 STM32F303xC
+
+# bootloader starts firmware at 26k
+FLASH_RESERVE_START_KB 26
+
+# store parameters in pages 11 and 12
+define STORAGE_FLASH_PAGE 11
+define HAL_STORAGE_SIZE 800
+
+# board ID for firmware load
+APJ_BOARD_ID 1004
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define CH_CFG_ST_FREQUENCY 100000
+define CH_CFG_ST_TIMEDELTA 0
+
+# assume the 256k flash part for now
+FLASH_SIZE_KB 256
+
+# a LED to flash
+PA4 LED OUTPUT LOW
+
+define HAL_CAN_POOL_SIZE 6000
+
+# only one I2C bus in normal config
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# no ADC driver
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+
+# MAIN_STACK is stack of initial thread
+MAIN_STACK 0x80
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0x800
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PA11 CAN_RX CAN
+PA12 CAN_TX CAN
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+define HAL_USE_I2C TRUE
+define STM32_I2C_USE_I2C1 TRUE
+
+define HAL_UART_MIN_TX_SIZE 256
+define HAL_UART_MIN_RX_SIZE 128
+
+define HAL_UART_STACK_SIZE 256
+
+define STORAGE_THD_WA_SIZE 256
+define IO_THD_WA_SIZE      256
+
+define HAL_NO_GCS
+define HAL_NO_LOGGING
+define HAL_NO_MONITOR_THREAD
+
+define HAL_MINIMIZE_FEATURES 0
+
+define HAL_BUILD_AP_PERIPH
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+
+define HAL_DEVICE_THREAD_STACK 256
+
+define AP_PARAM_MAX_EMBEDDED_PARAM 0
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# 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
+
+# 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
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# order of UARTs
+SERIAL_ORDER USART1 EMPTY USART3 USART2
+
+# USART1, for debug
+PA9  USART1_TX USART1 SPEED_HIGH NODMA
+PA10 USART1_RX USART1 SPEED_HIGH NODMA
+
+# USART2, connected to GPS
+PA2 USART2_TX USART2 SPEED_HIGH NODMA
+PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+# USART3, for MSP
+PB10  USART3_TX USART3 SPEED_HIGH NODMA
+PB11  USART3_RX USART3 SPEED_HIGH NODMA
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.f303_MatekGPS"
+
+# added QMC5883L mag on I2C
+COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
+
+# I2C baro (DPS310)
+BARO DPS280 I2C:0:0x76
+
+# enable builtin GPS, mag and baro
+# also allow for airspeed on i2c port, and rangefinder on MSP port
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_AIRSPEED
+define HAL_PERIPH_ENABLE_RANGEFINDER
+
+# allow for rangefinder to be plugged in on "MSP" port
+define RANGEFINDER_MAX_INSTANCES 1
+define ADSB_PORT hal.uartC
+define HAL_PERIPH_ENABLE_ADSB