AP_HAL_ChibiOS: add MatekL431 AP_Periph hwdef

libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef-bl.dat

@@ -0,0 +1,3 @@
+include ../MatekL431/hwdef-bl.inc
+
+define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Airspeed"

libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Airspeed/hwdef.dat

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+include ../MatekL431/hwdef.inc
+
+define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Airspeed"
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+# ------------------ I2C airspeed -------------------------
+define HAL_PERIPH_ENABLE_AIRSPEED
+
+# 10" DLVR sensor by default
+define HAL_AIRSPEED_TYPE_DEFAULT 9  
+define AIRSPEED_MAX_SENSORS 1
+

libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef-bl.dat

@@ -0,0 +1,3 @@
+include ../MatekL431/hwdef-bl.inc
+
+define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Periph"

libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat

@@ -0,0 +1,85 @@
+include ../MatekL431/hwdef.inc
+
+define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-Periph"
+
+
+# --------------------- 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)
+
+# Beeper
+PA6   TIM16_CH1 TIM16 GPIO(32) ALARM
+
+# ----------------------- GPS ----------------------------
+define HAL_PERIPH_ENABLE_GPS
+define GPS_MAX_RATE_MS 200
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+
+define HAL_PERIPH_GPS_PORT_DEFAULT 2
+
+
+# ---------------------- COMPASS ---------------------------
+define HAL_PERIPH_ENABLE_MAG
+
+SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
+
+define HAL_COMPASS_MAX_SENSORS 1
+
+# added QMC5883L for different board varients
+COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
+
+
+# --------------------- Barometer ---------------------------
+define HAL_PERIPH_ENABLE_BARO
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+BARO SPL06 I2C:0:0x76
+
+# ------------------ I2C airspeed -------------------------
+define HAL_PERIPH_ENABLE_AIRSPEED
+
+# MS4525 sensor by default
+define HAL_AIRSPEED_TYPE_DEFAULT 1
+define AIRSPEED_MAX_SENSORS 1
+
+# -------------------- MSP --------------------------------
+define HAL_PERIPH_ENABLE_MSP
+define HAL_MSP_ENABLED 1
+define AP_PERIPH_MSP_PORT_DEFAULT 1
+
+# ------------------ BATTERY Monitor -----------------------
+define HAL_PERIPH_ENABLE_BATTERY
+
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+
+PA0 BATT_VOLTAGE_SENS  ADC1 SCALE(1)
+PA1 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
+
+
+PB0 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PB1 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT2_MONITOR_DEFAULT  0
+define HAL_BATT2_VOLT_PIN 15
+define HAL_BATT2_VOLT_SCALE 21.0
+define HAL_BATT2_CURR_PIN 16
+define HAL_BATT2_CURR_SCALE 40.0
+
+
+# -------------------- Buzzer+NeoPixels --------------d------
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+

libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef-bl.inc

@@ -0,0 +1,83 @@
+# hw definition file Matek L431 CAN node
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1062
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# ---------------------------------------------
+PB3 LED_BOOTLOADER OUTPUT LOW  # blue
+define HAL_LED_ON 0
+
+# order of UARTs
+SERIAL_ORDER USART1 USART2 USART3
+
+PB6  USART1_TX USART1 NODMA
+PB7  USART1_RX USART1 NODMA
+
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA
+
+PB10  USART3_TX USART3 NODMA
+PB11  USART3_RX USART3 NODMA
+
+define HAL_USE_SERIAL TRUE
+define STM32_SERIAL_USE_USART1 TRUE
+define STM32_SERIAL_USE_USART2 TRUE
+define STM32_SERIAL_USE_USART3 TRUE
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+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 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 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
+PA4 MAG_CS CS
+PB2 SPARE_CS CS
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+

libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc

@@ -0,0 +1,103 @@
+# hw definition file for Matek L431 CAN node
+
+# 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 1062
+
+# 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
+define HAL_MINIMIZE_FEATURES 0
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+# blue LED0 marked as ACT
+PB3 LED OUTPUT HIGH
+define HAL_LED_ON 1
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# --------------------- SPI1 RM3100 -----------------------
+PA5 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA4 MAG_CS CS
+PB2 SPARE_CS CS
+
+
+# ---------------------- I2C bus ------------------------
+I2C_ORDER I2C2
+
+PB13 I2C2_SCL I2C2
+PB14 I2C2_SDA I2C2
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+define HAL_I2C_INTERNAL_MASK 1
+
+
+# ---------------------- CAN bus -------------------------
+CAN_ORDER 1
+
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define HAL_CAN_POOL_SIZE 6000
+
+# ---------------------- UARTs ---------------------------
+#           | sr0  | MSP | GPS  |
+SERIAL_ORDER USART1 USART2 USART3
+
+# USART1 for debug
+PB6  USART1_TX USART1 SPEED_HIGH
+PB7  USART1_RX USART1 SPEED_HIGH
+
+# USART2 for MSP
+PA2 USART2_TX USART2 SPEED_HIGH
+PA3 USART2_RX USART2 SPEED_HIGH
+
+# USART3 for GPS
+PB10  USART3_TX USART3 SPEED_HIGH NODMA
+PB11  USART3_RX USART3 SPEED_HIGH NODMA
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0