From 655c757c22eb31681ab4af39708b7ec659df1582 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 11 Oct 2021 18:32:57 +1100 Subject: [PATCH] HAL_ChibiOS: added Sierra-L431 peripheral --- .../hwdef/Sierra-L431/hwdef-bl.dat | 104 +++++++++++++ .../hwdef/Sierra-L431/hwdef.dat | 147 ++++++++++++++++++ 2 files changed, 251 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef-bl.dat new file mode 100644 index 0000000000..37f0dc2ea2 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef-bl.dat @@ -0,0 +1,104 @@ +# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32L431 STM32L431xx + +FLASH_RESERVE_START_KB 0 +FLASH_BOOTLOADER_LOAD_KB 36 + +# reserve some space for params +APP_START_OFFSET_KB 4 + +# board ID for firmware load +APJ_BOARD_ID 1050 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# assume 256k flash part +FLASH_SIZE_KB 256 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# order of UARTs +SERIAL_ORDER USART1 USART2 + +# a fault LED +PB0 LED_BOOTLOADER OUTPUT LOW # blue +define HAL_LED_ON 1 + +PB14 LED_RED OUTPUT LOW GPIO(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 + +define HAL_USE_SERIAL TRUE + +define STM32_SERIAL_USE_USART1 TRUE +define STM32_SERIAL_USE_USART2 TRUE + +define HAL_NO_GPIO_IRQ + +define SERIAL_BUFFERS_SIZE 32 +define HAL_USE_EMPTY_IO TRUE +define PORT_INT_REQUIRED_STACK 64 + +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 CAN1_RX CAN1 +PA12 CAN1_TX CAN1 +PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +CAN_ORDER 1 + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# make bl baudrate match debug baudrate for easier debugging +define BOOTLOADER_BAUDRATE 57600 + +# use a small bootloader timeout +define HAL_BOOTLOADER_TIMEOUT 1000 + +# 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.Sierra-L431" + +# Enable the GPS voltage pin +PC13 GPS_EN OUTPUT HIGH + +# Enable the sensor voltage pin +PC12 SENSOR_EN OUTPUT HIGH + +# Add CS pins to ensure they are high in bootloader +#PC6 MPU_CS CS +PA8 BARO_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat new file mode 100644 index 0000000000..d12ae46b17 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat @@ -0,0 +1,147 @@ +g# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32L431 STM32L431xx + +# bootloader starts firmware at 36k + 4k (STORAGE_FLASH) +FLASH_RESERVE_START_KB 40 + +# store parameters in pages 18 and 19 +define 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 1050 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# enable watchdog +define HAL_WATCHDOG_ENABLED_DEFAULT true + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# assume the 256k flash part +FLASH_SIZE_KB 256 + +# order of UARTs +SERIAL_ORDER USART1 USART2 + +define HAL_CAN_POOL_SIZE 6000 + +#STDOUT_SERIAL SD1 +#STDOUT_BAUDRATE 57600 + +# USART1 Debug +PA9 USART1_TX USART1 SPEED_HIGH +PA10 USART1_RX USART1 SPEED_HIGH + +# USART2 M9N +PA2 USART2_TX USART2 SPEED_HIGH +PA3 USART2_RX USART2 SPEED_HIGH + +# LEDs +PB0 LED OUTPUT LOW GPIO(1) + +# a fault LED +# PB14 LED_FAULT OUTPUT LOW # red + +# SPI1 bus for Baro +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 +PA8 BARO_CS CS + +SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ +BARO DPS280 SPI:dps310 + +#SPIDEV Invensensev2 SPI2 DEVID2 IMU_CS MODE3 2*MHZ 8*MHZ + +# QMC5883L +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +I2C_ORDER I2C1 + +# compass +COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 + +# allow for reboot command for faster development +define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 + +# debugger support +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +define HAL_NO_GPIO_IRQ +define SERIAL_BUFFERS_SIZE 512 + +define NO_DATAFLASH TRUE + +define DMA_RESERVE_SIZE 2048 + +define PERIPH_FW TRUE + +# stack for fast interrupts +define PORT_INT_REQUIRED_STACK 64 + +# MAIN_STACK is stack for ISR handlers +MAIN_STACK 0x300 + +# PROCESS_STACK controls stack for main thread +PROCESS_STACK 0x800 + +define HAL_DISABLE_LOOP_DELAY + +# enable CAN support +PA11 CAN1_RX CAN1 +PA12 CAN1_TX CAN1 +PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +CAN_ORDER 1 + +define HAL_USE_ADC TRUE +define STM32_ADC_USE_ADC1 TRUE +PA4 VSENSE ADC1 SCALE(2) + +define HAL_GCS_ENABLED 0 +define HAL_NO_MONITOR_THREAD +define HAL_NO_LOGGING +define HAL_MINIMIZE_FEATURES 0 + +define HAL_BUILD_AP_PERIPH + +define AP_PARAM_MAX_EMBEDDED_PARAM 512 + +# 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 + +# use DNA +define HAL_CAN_DEFAULT_NODE_ID 0 + +define CAN_APP_NODE_NAME "org.ardupilot.Sierra-L431" + +define HAL_PERIPH_ENABLE_GPS +define HAL_PERIPH_GPS_PORT_DEFAULT 1 + +define HAL_PERIPH_ENABLE_MAG +define HAL_PERIPH_ENABLE_BARO +define HAL_PERIPH_ENABLE_AIRSPEED + +#BARO MS56XX SPI:ms5611 +#BARO BMP388 I2C:0:0x76 + +# define HAL_SPI_CHECK_CLOCK_FREQ + +# WS2812 LED +PA15 TIM2_CH1 TIM2 PWM(1) +PB11 TIM2_CH4 TIM2 PWM(2) +