diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef-bl.dat new file mode 100644 index 0000000000..927d5bda72 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef-bl.dat @@ -0,0 +1,80 @@ +# hw definition file for processing by chibios_pins.py + +# Sierra-F9P bootloader + +# 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 1034 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# crystal frequency +OSCILLATOR_HZ 16000000 + +define CH_CFG_ST_FREQUENCY 1000000 + +# Available Flash +FLASH_SIZE_KB 1024 + +define HAL_STORAGE_SIZE 16384 +define STORAGE_FLASH_PAGE 1 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# order of UARTs +SERIAL_ORDER + +# USART1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# USART2 +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 + +# 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 TRUE +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 + +# enable CAN support +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 +PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW +define HAL_USE_CAN TRUE +define STM32_CAN_USE_CAN1 TRUE + +define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F9P" + +# 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 +#PC6 ICM_CS CS +PC12 BARO_CS CS + +#Sensors Enable & ESP Enable +PB0 VDD_3V3_SENSORS_EN OUTPUT HIGH +PC2 ESP_PWR_EN OUTPUT LOW diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat new file mode 100644 index 0000000000..a709ddc0fe --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat @@ -0,0 +1,162 @@ +# hw definition file for processing by chibios_pins.py + +# Sierra-F9P Firmware + +# 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 1034 + +# setup build for a peripheral firmware +env AP_PERIPH 1 +#env AP_PERIPH_HEAVY 1 + +STM32_ST_USE_TIMER 5 + +# enable watchdog +define HAL_WATCHDOG_ENABLED_DEFAULT true + +# crystal frequency +OSCILLATOR_HZ 16000000 + +define CH_CFG_ST_FREQUENCY 1000000 + +# Available Flash +FLASH_SIZE_KB 1024 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# order of UARTs +SERIAL_ORDER USART1 EMPTY EMPTY USART2 + +# USART1 for debug +PA9 USART1_TX USART1 NODMA +PA10 USART1_RX USART1 NODMA +define HAL_SERIAL0_BAUD_DEFAULT 57600 + +# USART2 for GPS +PA2 USART2_TX USART2 SPEED_HIGH +PA3 USART2_RX USART2 SPEED_HIGH + +# SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# only one I2C bus in normal config +PB7 I2C1_SDA I2C1 +PB6 I2C1_SCL I2C1 + +define HAL_USE_I2C TRUE +define STM32_I2C_USE_I2C1 TRUE +define HAL_I2C_CLEAR_ON_TIMEOUT 0 +define HAL_I2C_INTERNAL_MASK 0 + +# only one I2C bus +I2C_ORDER I2C1 + +# only one SPI bus in normal config +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# SPI CS +#PC6 ICM_CS CS +PC12 BARO_CS CS + +# SPI devices +# ToDo SPI devices +#SPIDEV icm20948 SPI1 DEVID1 MPU_CS MODE3 4*MHZ 8*MHZ +SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ + +# Compass +COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 + +# Baro +BARO DPS310 SPI:dps310 + +# PWM output for buzzer +PB5 TIM3_CH2 TIM3 GPIO(77) LOW ALARM + +# WS2812 LEDs +PA15 TIM2_CH1 TIM2 PWM(1) + +define HAL_USE_ADC TRUE +define STM32_ADC_USE_ADC1 TRUE +#define HAL_DISABLE_ADC_DRIVER TRUE +PA0 VSENSE ADC1 SCALE(2) + +define HAL_NO_GPIO_IRQ + +# avoid RCIN thread to save memory +define HAL_NO_RCIN_THREAD +define HAL_USE_RTC TRUE +define DISABLE_SERIAL_ESC_COMM TRUE +define DMA_RESERVE_SIZE 0 +define HAL_DISABLE_LOOP_DELAY +define PERIPH_FW TRUE + +# enable CAN support +PB8 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 +PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW + +define CAN_APP_NODE_NAME "org.ardupilot.Sierra-F9P" + +define HAL_NO_MONITOR_THREAD +define HAL_MINIMIZE_FEATURES 0 +define HAL_BUILD_AP_PERIPH +define HAL_DEVICE_THREAD_STACK 768 + +# 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+Buzzer+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 +define CONFIGURE_PPS_PIN TRUE +#define HAL_INS_ENABLED 1 +define GPS_MOVING_BASELINE 1 + +# Logging +define HAL_LOGGING_ENABLED 1 +define HAL_OS_FATFS_IO 1 +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# SD Card pins +PC8 SDIO_D0 SDIO +PC9 SDIO_D1 SDIO +PC10 SDIO_D2 SDIO +PC11 SDIO_D3 SDIO +PB15 SDIO_CK SDIO +PD2 SDIO_CMD SDIO + +# 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 + +# allow for reboot command for faster development +define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 + +#Sensors Enable & ESP Enable +PB0 VDD_3V3_SENSORS_EN OUTPUT HIGH +PC2 ESP_PWR_EN OUTPUT LOW