HAL_ChibiOS: added ChibiOS configuration for VR Core 1.0

Gers963 · Jan 24, 2019 · 33f7f5b · 33f7f5b
1 parent f615ab9
commit 33f7f5b
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Showing 6 changed files with 241 additions and 4 deletions.
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -5,7 +5,7 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_RTC/AP_RTC.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51)
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10)
 #define AP_FEATURE_BOARD_DETECT 1
 #else
 #define AP_FEATURE_BOARD_DETECT 0

diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -266,7 +266,7 @@ void AP_BoardConfig::board_autodetect(void)
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
     state.board_type.set_and_notify(VRX_BOARD_UBRAIN52);
     hal.console->printf("Detected VR Micro Brain 5.2\n");
-#elif defined(CONFIG_ARCH_BOARD_VRCORE_V10)
+#elif defined(CONFIG_ARCH_BOARD_VRCORE_V10) || defined(HAL_CHIBIOS_ARCH_COREV10)
     state.board_type.set_and_notify(VRX_BOARD_CORE10);
     hal.console->printf("Detected VR Core 1.0\n");
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -78,6 +78,7 @@
 #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51   5016
 #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52   5017
 #define HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51  5018
+#define HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10    5019
 
 /* InertialSensor driver types */
 #define HAL_INS_NONE         0

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef-bl.dat
@@ -0,0 +1,60 @@
+# hw definition file for processing by chibios_hwdef.py
+# for VRCOREv10 hardware
+
+
+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1910
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+# flash size
+FLASH_SIZE_KB 1024
+
+# board voltage
+STM32_VDD 330U
+
+# USB setup
+USB_VENDOR 0x27AC
+USB_PRODUCT 0x1910
+USB_STRING_MANUFACTURER "Laser Navigation"
+USB_STRING_SERIAL  "%SERIAL%"
+
+# don't allow bootloader to use more than 16k
+FLASH_USE_MAX_KB 16
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+define FLASH_BOOTLOADER_LOAD_KB 16
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+
+# order of UARTs (and USB)
+UART_ORDER OTG1
+
+PA9 VBUS INPUT
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PD14 LED_BOOTLOADER OUTPUT
+PC5  LED_ACTIVITY OUTPUT
+
+define HAL_LED_ON 0
+
+define HAL_CHIBIOS_ARCH_COREV10 1
+
+define HAL_STORAGE_SIZE 16384
+define HAL_USE_EMPTY_STORAGE 1
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat
@@ -0,0 +1,176 @@
+# hw definition file for processing by chibios_hwdef.py
+# for VRCOREv10 hardware
+
+define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10
+
+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1910
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+# flash size
+FLASH_SIZE_KB 1024
+
+# board voltage
+STM32_VDD 330U
+
+# USB setup
+USB_VENDOR 0x27AC
+USB_PRODUCT 0x1910
+USB_STRING_MANUFACTURER "Laser Navigation"
+USB_STRING_SERIAL  "%SERIAL%"
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# only one I2C bus
+I2C_ORDER I2C2 I2C1
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART1 USART3 USART2
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 57600
+
+
+ PA0  BUZZER OUTPUT LOW GPIO(32)
+ PA1  TIM2_CH2 TIM2 PWM(1)  GPIO(50)
+ PA2  TIM2_CH3 TIM2 PWM(2)  GPIO(51)
+ PA3  TIM2_CH4 TIM2 PWM(3)  GPIO(52)
+ PA4  SDCARD_CS CS
+ PA5  SPI1_SCK SPI1
+ PA6  SPI1_MISO SPI1
+ PA7  SPI1_MOSI SPI1
+#PA8
+ PA9  VBUS INPUT
+#P10
+ PA11 OTG_FS_DM OTG1
+ PA12 OTG_FS_DP OTG1
+ PA13 JTMS-SWDIO SWD
+ PA14 JTCK-SWCLK SWD
+#PA15
+
+ PB0  TIM3_CH3 TIM3 PWM(5)  GPIO(54)
+ PB1  TIM3_CH4 TIM3 PWM(6)  GPIO(55)
+#PB2
+ PB3  LED_EXT3  OUTPUT GPIO(30)
+ PB4  LED_EXT4  OUTPUT GPIO(31)
+ PB5  TIM3_CH2 TIM3 PWM(4)  GPIO(53)
+ PB6  USART1_TX USART1
+ PB7  USART1_RX USART1
+ PB8  I2C1_SCL I2C1
+ PB9  I2C1_SDA I2C1
+ PB10 I2C2_SCL I2C2
+ PB11 I2C2_SDA I2C2
+#PB12
+ PB13 SPI2_SCK SPI2
+ PB14 SPI2_MISO SPI2
+ PB15 SPI2_MOSI SPI2
+
+ PC0  BATT_VOLTAGE_SENS ADC1
+ PC1  BATT_CURRENT_SENS ADC1
+#PC2
+#PC3
+#PC4
+ PC5  LED_GREEN OUTPUT GPIO(25)
+#PC6
+ PC7  TIM8_CH2 TIM8 RCIN FLOAT LOW
+ PC8  RELAY_1   OUTPUT LOW GPIO(33)
+ PC9  RELAY_2   OUTPUT LOW GPIO(34)
+ PC10 SPI3_SCK SPI3
+ PC11 SPI3_MISO SPI3
+ PC12 SPI3_MOSI SPI3
+#PC13
+#PC14
+#PC15
+
+#PD0
+#PD1
+#PD2
+#PD3
+#PD4
+ PD5  USART2_TX USART2
+ PD6  USART2_RX USART2
+ PD7  SBUS_INV OUTPUT
+ PD8  USART3_TX USART3
+ PD9  USART3_RX USART3
+#PD10
+#PD11
+ PD12 TIM4_CH1 TIM4 PWM(8)  GPIO(57)
+ PD13 TIM4_CH2 TIM4 PWM(7)  GPIO(56)
+ PD15 LED_RED   OUTPUT GPIO(27)
+ PD14 LED_BLUE  OUTPUT GPIO(26)
+
+ PE0  BARO_CS CS
+#PE1
+ PE2  LED_EXT1  OUTPUT GPIO(29)
+ PE3  LED_EXT2  OUTPUT GPIO(28)
+ PE4  RELAY_3   OUTPUT LOW GPIO(35)
+#PE5  TIM9_CH1 TIM9 PWM(13) GPIO(62)
+#PE6  TIM9_CH2 TIM9 PWM(14) GPIO(63)
+#PE7
+#PE8
+ PE9  TIM1_CH1 TIM1 PWM(9)  GPIO(58)
+ PE10 MPU_CS CS
+ PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
+#PE12
+ PE13 TIM1_CH3 TIM1 PWM(11) GPIO(60)
+ PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
+ PE15 FRAM_CS CS
+
+# SPI device table. The DEVID values are chosen to match the PX4 port
+# of ArduPilot so users don't need to re-do their accel and compass calibrations
+# when moving to ChibiOS
+SPIDEV ms5611      SPI1 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
+SPIDEV mpu9250     SPI2 DEVID4  MPU_CS     MODE3   4*MHZ   8*MHZ
+SPIDEV ramtron     SPI3 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ
+SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
+
+define HAL_CHIBIOS_ARCH_COREV10 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define HAL_STORAGE_SIZE   16384
+define STORAGE_FLASH_PAGE 22
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+
+# enable FAT filesystem
+define HAL_OS_FATFS_IO 1
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+define HAL_GPIO_A_LED_PIN  25
+define HAL_GPIO_B_LED_PIN  26
+define HAL_GPIO_C_LED_PIN  27
+define EXTERNAL_LED_GPS    28
+define EXTERNAL_LED_ARMED  29
+define EXTERNAL_LED_MOTOR1 30
+define EXTERNAL_LED_MOTOR2 31
+
+define RELAY1_PIN_DEFAULT  33
+define RELAY2_PIN_DEFAULT  34
+define RELAY3_PIN_DEFAULT  35
+
+define HAL_BUZZER_PIN 32
+define HAL_BUZZER_ON  1
+define HAL_BUZZER_OFF 0
+
+# battery setup
+define HAL_BATT_VOLT_PIN 2
+define HAL_BATT_CURR_PIN 3
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+# 12 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 14
+
diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
@@ -206,14 +206,14 @@ void AP_Notify::add_backends(void)
   #endif
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10
                 ADD_BACKEND(new ExternalLED()); // despite the name this is a built in set of onboard LED's
 #endif // CONFIG_HAL_BOARD_SUBTYPE == various CHIBIOS-VRBRAINs
 
 #if defined(HAL_HAVE_PIXRACER_LED)
                 ADD_BACKEND(new PixRacerLED());
 #elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
-  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51
+  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10
                 ADD_BACKEND(new VRBoard_LED());
   #else
                 ADD_BACKEND(new AP_BoardLED());