hwdef: add AeroFox PMU module hwdef

libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/defaults.parm

@@ -0,0 +1,20 @@
+# up to 9 motors/servos
+
+OUT1_FUNCTION 33
+OUT2_FUNCTION 34
+OUT3_FUNCTION 35
+OUT4_FUNCTION 36
+OUT5_FUNCTION 51
+OUT6_FUNCTION 52
+OUT7_FUNCTION 53
+OUT8_FUNCTION 54
+OUT9_FUNCTION 55
+
+# DShot 600
+ESC_PWM_TYPE 7
+OUT_BLH_OTYPE 6
+
+OUT_BLH_MASK 15
+
+# DShot telem on RX1
+ESC_TELEM_PORT 0

libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef-bl.dat

@@ -0,0 +1,3 @@
+include ../AeroFox-PMU/hwdef-bl.inc
+
+define CAN_APP_NODE_NAME "org.ardupilot.AeroFox_PMU"

libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef-bl.inc

@@ -0,0 +1,38 @@
+MCU STM32L431 STM32L431xx
+APJ_BOARD_ID 1080
+
+OSCILLATOR_HZ 8000000
+
+env AP_PERIPH 1
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+APP_START_OFFSET_KB 4
+
+PB3 LED_BOOTLOADER OUTPUT LOW  # blue
+define HAL_LED_ON 0
+
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+CAN_ORDER 1
+
+
+define BOOTLOADER_BAUDRATE 57600
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+define HAL_USE_SERIAL FALSE
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 32
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+define DMA_RESERVE_SIZE 0
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+define HAL_DISABLE_LOOP_DELAY
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD

libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.dat

@@ -0,0 +1,60 @@
+include ../AeroFox-PMU/hwdef.inc
+
+# SERIAL
+SERIAL_ORDER USART1 EMPTY USART3
+
+# ESC 
+PB10  USART3_TX USART3 SPEED_HIGH
+PB11  USART3_RX USART3 SPEED_HIGH
+
+# USART2
+#PA2 USART2_TX USART2 SPEED_HIGH
+#PA3 USART2_RX USART2 SPEED_HIGH
+
+# DEBUG 
+PB6  USART1_TX USART1 SPEED_HIGH
+PB7  USART1_RX USART1 SPEED_HIGH
+
+# BATTERY
+define HAL_PERIPH_ENABLE_BATTERY
+
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+
+PB0 BATT_VOLTAGE_SENS  ADC1 SCALE(1)
+PB1 BATT_CURRENT_SENS  ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT  0
+define HAL_BATT_VOLT_PIN 5
+define HAL_BATT_VOLT_SCALE 21.0
+define HAL_BATT_CURR_PIN 6
+define HAL_BATT_CURR_SCALE 40.0
+
+#PWM
+PA8   TIM1_CH1  TIM1 PWM(1) GPIO(50)
+PA9   TIM1_CH2  TIM1 PWM(2) GPIO(51)
+PA10  TIM1_CH3  TIM1 PWM(3) GPIO(52)
+PA11  TIM1_CH4  TIM1 PWM(4) GPIO(53)
+PA15  TIM2_CH1  TIM2 PWM(5) GPIO(54)
+PA2   TIM2_CH3  TIM2 PWM(6) GPIO(55)
+PA3   TIM2_CH4  TIM2 PWM(7) GPIO(56)
+PA1   TIM2_CH2  TIM2 PWM(8) GPIO(57)
+PA6   TIM16_CH1 TIM16  PWM(9)  GPIO(58) NODMA
+
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+
+# enable ESC control
+define HAL_SUPPORT_RCOUT_SERIAL 1
+define HAL_WITH_ESC_TELEM 1
+
+#GPIO LED
+define HAL_HAVE_PIXRACER_LED 
+PB2 LED_RED OUTPUT OPENDRAIN HIGH GPIO(0) 
+PB4 LED_GREEN OUTPUT OPENDRAIN LOW GPIO(1) 
+PB5 LED_BLUE OUTPUT OPENDRAIN LOW GPIO(2) 
+define HAL_GPIO_A_LED_PIN 0 
+define HAL_GPIO_B_LED_PIN 1 
+define HAL_GPIO_C_LED_PIN 2 
+define HAL_GPIO_LED_ON 0 
+define HAL_GPIO_LED_OFF 1 

libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.inc

@@ -0,0 +1,70 @@
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+define CAN_APP_NODE_NAME "org.ardupilot.AeroFox_PMU"
+
+# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 40
+FLASH_SIZE_KB 256
+
+# store parameters in pages 18 and 19
+STORAGE_FLASH_PAGE 18
+define HAL_STORAGE_SIZE 800
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+# board ID for firmware load
+APJ_BOARD_ID 1080
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+env AP_PERIPH 1
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+define DMA_RESERVE_SIZE 0
+
+# MAIN_STACK is stack for ISR handlers
+MAIN_STACK 0x300
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0xA00
+
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_GCS_ENABLED 0
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_LOGGING
+
+# setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+#ACT LED
+PB3 LED OUTPUT HIGH
+define HAL_LED_ON 1
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+#CAN bus
+CAN_ORDER 1
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+define HAL_CAN_POOL_SIZE 6000
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True