AP_HAL_ChibiOS/hwdef: Add hwdef for Sierra-PrecisionPoint

libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/defaults.parm

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+# setup for NeoPixels
+OUT1_FUNCTION 120
+NTF_LED_TYPES 512
+NTF_LED_BRIGHT 3
+NTF_LED_LEN 2

libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+
+# Sierra-PrecisionPoint
+
+# MCU class and specific type
+MCU STM32F4xx STM32F412Rx
+
+FLASH_RESERVE_START_KB 0
+
+# two sectors for bootloader, two for storage
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# board ID for firmware load
+APJ_BOARD_ID 1095
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# USB
+PA11 USB_FS_DM OTG1
+PA12 USB_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# USB setup
+USB_STRING_MANUFACTURER "Sierra Aerospace"
+USB_STRING_PRODUCT "Sierra-PrecisionPoint-BL"
+
+# workaround missing define in headers
+define RCC_AHB1RSTR_OTGHRST 0x20000000
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART1
+
+# USART1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART1 TRUE
+define STM32_SERIAL_USE_USART2 FALSE
+define STM32_SERIAL_USE_USART3 FALSE
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define DMA_RESERVE_SIZE 0
+define HAL_DISABLE_LOOP_DELAY
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB14 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.PrecisionPoint"
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+# Add CS pins to ensure they are high in bootloader
+PC0 RM3100_CS CS
+PC1 DPS310_CS CS
+Pc4 ICM42688_CS CS
+
+# USB select
+PC6 USB_SEL OUTPUT PUSHPULL SPEED_LOW HIGH
+
+PB12 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+
+# Sierra-PrecisionPoint
+
+# MCU class and specific type
+MCU STM32F4xx STM32F412Rx
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+
+# store parameters in pages 2 and 3
+STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 8192
+
+# board ID for firmware load
+APJ_BOARD_ID 1095
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+STM32_ST_USE_TIMER 5
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+# USB
+PA11 USB_FS_DM OTG1
+PA12 USB_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# USB setup
+USB_STRING_MANUFACTURER "Sierra Aerospace"
+USB_STRING_PRODUCT "Sierra-PrecisionPoint"
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART1 USART2
+
+# USART1 for debug
+PB6 USART1_TX USART1 NODMA
+PB7 USART1_RX USART1 NODMA
+
+# USART2 for GPS
+PA2 USART2_TX USART2 SPEED_HIGH
+PA3 USART2_RX USART2 SPEED_HIGH
+
+# GPS on 2nd port
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Add CS pins
+PC0 RM3100_CS CS
+PC1 DPS310_CS CS
+PC4 ICM42688_CS CS
+
+# --------------------- SPI1 ICM42688 -----------------------
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PC5 ICM42688_DRDY INPUT
+
+SPIDEV icm42688 SPI1 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
+
+# SPI1 FSYNC for ICM42688p
+# PB0 TIM3_CH3 TIM3
+
+# --------------------- SPI2 DPS310+RM3100 -----------------------
+PB10 SPI2_SCK SPI2
+PC2  SPI2_MISO SPI2
+PC3  SPI2_MOSI SPI2
+
+# Baro probe
+SPIDEV dps310 SPI2 DEVID2 DPS310_CS MODE3 5*MHZ 5*MHZ
+BARO DPS310 SPI:dps310
+
+# Mag probe
+SPIDEV  rm3100 SPI2 DEVID1 RM3100_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
+# define AP_RM3100_REVERSAL_MASK 7
+
+# WS2812 LEDs
+PA15 TIM2_CH1 TIM2 PWM(1)
+
+# Board voltage ADC
+define HAL_USE_ADC TRUE
+PA0 VDD_5V_SENS ADC1 SCALE(2)
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB14 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.PrecisionPoint"
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# 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+NeoPixels
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+
+# PB5  GPS_PPS INPUT FLOATING GPIO(6)
+# define CONFIGURE_PPS_PIN TRUE
+# define HAL_GPIO_PPS 6
+# PB4 F9P_TX_READY INPUT
+
+# allow for F9P GPS modules with moving baseline
+define GPS_MOVING_BASELINE 1
+define GPS_MAX_RATE_MS 200
+
+# Logging
+define HAL_LOGGING_ENABLED 1
+define HAL_OS_FATFS_IO 1
+
+# SD Card pins
+PC8 SDIO_D0 SDIO
+PC9 SDIO_D1 SDIO
+PC10 SDIO_D2 SDIO
+PC11 SDIO_D3 SDIO
+PC12 SDIO_CK SDIO
+PD2 SDIO_CMD SDIO
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# USB select
+PC6 USB_SEL OUTPUT PUSHPULL SPEED_LOW HIGH