AP_HAL_ChibiOS: add TrueNavIC hwdef

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

@@ -0,0 +1,59 @@
+# HW definition file for Sierra-TrueNavIC
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5302
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# Flash info
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# a fault LED
+PA1 LED_BOOTLOADER OUTPUT LOW # amber
+define HAL_LED_ON 1
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
+
+CAN_ORDER 1
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+define HAL_USE_SERIAL FALSE
+define HAL_NO_GPIO_IRQ
+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
+
+# Add CS pins to ensure they are high in bootloader
+PA8 BARO_CS CS
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavIC"

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

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+# HW definition file for Sierra-TrueNavIC
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# 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 5302
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+env AP_PERIPH 1
+
+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
+
+# save memory
+define HAL_DISABLE_LOOP_DELAY
+define HAL_GCS_ENABLED 0
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_LOGGING
+define HAL_USE_ADC FALSE
+define HAL_NO_RCIN_THREAD
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# --------------------- SPI1 RM3100+DPS310 -----------------------
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA8 BARO_CS CS
+
+# Baro probe
+SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
+BARO DPS310 SPI:dps310
+
+# QMC5883L on I2C2
+I2C_ORDER I2C2
+
+PB13 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+define HAL_I2C_INTERNAL_MASK 1
+COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
+
+# ---------------------- CAN bus -------------------------
+CAN_ORDER 1
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+
+define HAL_CAN_POOL_SIZE 12000
+
+# ---------------------- UARTs ---------------------------
+SERIAL_ORDER EMPTY USART1
+
+# USART1 for GPS
+PA9  USART1_TX USART1 SPEED_HIGH
+PA10  USART1_RX USART1 SPEED_HIGH
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# enable GPS and compass
+define HAL_PERIPH_ENABLE_GPS
+define GPS_MAX_RATE_MS 200
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+
+# 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
+define BARO_MAX_INSTANCES 1
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+
+# GPS PPS
+# PA15 GPS_PPS_IN INPUT FLOATING
+
+# PWM, WS2812 LED
+# PB10 TIM2_CH3 TIM2 PWM(1)
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavIC"
+
+# Enable GPS LDO
+PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# do direct neopixel LED output to enable the 'rainbow' effect on startup
+define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
+define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
+define DEFAULT_NTF_LED_TYPES 455
+# PA1 LED OUTPUT LOW GPIO(1)