AP_HAL_ChibiOS: Add MatekG474-Periph & MatekG474-DShot

Tools/AP_Bootloader/board_types.txt

@@ -276,6 +276,7 @@ AP_HW_BlitzF7                        1164
 AP_HW_MicoAir743                     1166
 
 AP_HW_JHEMCUF405WING                 1169
+AP_HW_MatekG474                      1170
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

libraries/AP_HAL_ChibiOS/hwdef/MatekG474-DShot/defaults.parm

@@ -0,0 +1,22 @@
+# up to 11 motors/servos
+
+OUT1_FUNCTION 33
+OUT2_FUNCTION 34
+OUT3_FUNCTION 35
+OUT4_FUNCTION 36
+OUT5_FUNCTION 51
+OUT6_FUNCTION 52
+OUT7_FUNCTION 53
+OUT8_FUNCTION 54
+OUT9_FUNCTION 55
+OUT10_FUNCTION 56
+OUT11_FUNCTION 57
+
+# DShot 600
+ESC_PWM_TYPE 7
+OUT_BLH_OTYPE 6
+
+OUT_BLH_MASK 15
+
+# DShot telem on RX3
+ESC_TELEM_PORT 3

libraries/AP_HAL_ChibiOS/hwdef/MatekG474-DShot/hwdef-bl.dat

@@ -0,0 +1 @@
+include ../MatekG474/hwdef-bl.inc

libraries/AP_HAL_ChibiOS/hwdef/MatekG474-DShot/hwdef.dat

@@ -0,0 +1,22 @@
+include ../MatekG474/hwdef.inc
+
+# --------------------- PWM -----------------------
+PA0  TIM2_CH1  TIM2 PWM(1)  GPIO(50)
+PA1  TIM2_CH2  TIM2 PWM(2)  GPIO(51)
+PA2  TIM2_CH3  TIM2 PWM(3)  GPIO(52)
+PA3  TIM2_CH4  TIM2 PWM(4)  GPIO(53)
+PA6  TIM3_CH1  TIM3 PWM(5)  GPIO(54)
+PA7  TIM3_CH2  TIM3 PWM(6)  GPIO(55)
+PB0  TIM3_CH3  TIM3 PWM(7)  GPIO(56)
+PB1  TIM3_CH4  TIM3 PWM(8)  GPIO(57)
+PC6  TIM8_CH1  TIM8 PWM(9)  GPIO(58)
+PB9  TIM8_CH3  TIM8 PWM(10) GPIO(59)
+PB2  TIM5_CH1  TIM5 PWM(11) GPIO(60)
+
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+
+# enable ESC control
+define HAL_SUPPORT_RCOUT_SERIAL 1
+define HAL_WITH_ESC_TELEM 1
+

libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/defaults.parm

@@ -0,0 +1,24 @@
+# ----setup for PORT defaults
+#| EMPTY | USART1 | USART2 | USART3 | UART4 |
+GPS_PORT     2
+MSP_PORT     3
+RNGFND_PORT  4
+ADSB_PORT   -1
+RC_PORT      1
+EFI_PORT    -1
+PRX_PORT    -1
+ESC_TELEM_PORT -1
+
+# ----I2C AirSpeed sensor, disabled by default
+ARSPD_BUS     0   # I2C1
+ARSPD_TYPE    0
+
+# ----I2C External Baro
+BARO_EXT_BUS    -1
+BARO_PROBE_EXT  4095
+
+# ----I2C BATT_MONITOR INA2xx
+BATT_I2C_BUS 0
+BATT_I2C_ADDR 0
+BATT_SHUNT 0.0002
+

libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef-bl.dat

@@ -0,0 +1 @@
+include ../MatekG474/hwdef-bl.inc

libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat

@@ -0,0 +1,68 @@
+include ../MatekG474/hwdef.inc
+
+# ----------- GPS
+define HAL_PERIPH_ENABLE_GPS
+define GPS_MAX_RATE_MS 200
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+
+# allow for F9P GPS modules with moving baseline
+define GPS_MOVING_BASELINE 1
+
+
+# ----------- COMPASS
+define HAL_PERIPH_ENABLE_MAG
+
+SPIDEV  rm3100 SPI2 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
+
+define HAL_COMPASS_MAX_SENSORS 1
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+
+# ----------- I2C airspeed
+define HAL_PERIPH_ENABLE_AIRSPEED
+define AIRSPEED_MAX_SENSORS 1
+
+
+# ----------- I2C Barometer
+define HAL_PERIPH_ENABLE_BARO
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+# BARO SPL06 I2C:0:0x76
+
+# ----------- I2C BATT_MONITOR INA2xx
+
+define HAL_PERIPH_ENABLE_BATTERY
+define AP_BATTERY_INA2XX_ENABLED 1
+define HAL_BATT_MONITOR_DEFAULT 21   
+
+
+# ----------- MSP
+define HAL_PERIPH_ENABLE_MSP
+define HAL_MSP_ENABLED 1
+
+
+# ----------- ADSB
+define HAL_PERIPH_ENABLE_ADSB
+
+
+# ----------- RC INPUT
+define HAL_PERIPH_ENABLE_RCIN 1
+
+
+# ----------- EFI
+define HAL_PERIPH_ENABLE_EFI
+define HAL_EFI_ENABLED 1
+
+
+# ----------- proximity
+define HAL_PERIPH_ENABLE_PROXIMITY
+define HAL_PROXIMITY_ENABLED 1
+
+
+# ----------- rangefinder
+define HAL_PERIPH_ENABLE_RANGEFINDER
+

libraries/AP_HAL_ChibiOS/hwdef/MatekG474/hwdef-bl.inc

@@ -0,0 +1,57 @@
+# hw definition file Matek G474 CAN node
+
+# MCU class and specific type
+MCU STM32G474 STM32G474xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MatekG474
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 32
+FLASH_SIZE_KB 512
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# ---------------------------------------------
+PC13 LED_BOOTLOADER OUTPUT LOW  # blue
+define HAL_LED_ON 0
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+PB5  CAN2_RX CAN2
+PB6  CAN2_TX CAN2
+
+
+# ---------------------------------------------
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 2500
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define DMA_RESERVE_SIZE 0
+define HAL_DISABLE_LOOP_DELAY
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_SERIAL FALSE
+
+# Add CS pins to ensure they are high in bootloader
+PB12 MAG_CS CS
+PC14 SPARE_CS CS

libraries/AP_HAL_ChibiOS/hwdef/MatekG474/hwdef.inc

@@ -0,0 +1,115 @@
+# hw definition file for Matek G474 CAN node
+
+# MCU class and specific type
+MCU STM32G474 STM32G474xx
+
+# bootloader starts firmware at 32k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 36
+FLASH_SIZE_KB 512
+
+# store parameters in pages
+STORAGE_FLASH_PAGE 16
+define HAL_STORAGE_SIZE 1800
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MatekG474
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+
+env AP_PERIPH 1
+
+define SERIAL_BUFFERS_SIZE 512
+# stack for fast interrupts
+define PORT_INT_REQUIRED_STACK 64
+
+define HAL_NO_GPIO_IRQ
+define HAL_NO_MONITOR_THREAD
+define HAL_USE_RTC FALSE
+define HAL_DISABLE_LOOP_DELAY
+define HAL_NO_GCS
+define HAL_NO_LOGGING
+
+
+define DMA_RESERVE_SIZE 2048
+
+# don't share any DMA channels (there are enough for everyone)
+DMA_NOSHARE *
+
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+# allow for reboot command for faster development
+# define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+
+# blue LED0 marked as ACT
+PC13 LED OUTPUT HIGH
+define HAL_LED_ON 1
+
+# --------------------- SPI1 RM3100 -----------------------
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+PB12 MAG_CS CS
+PC14 SPARE_CS CS
+
+# ---------------------- I2C bus ------------------------
+I2C_ORDER I2C1 I2C2
+
+# SWD debugging, disabled for I2C1
+# PA13 JTMS-SWDIO SWD
+# PA14 JTCK-SWCLK SWD
+
+PA13 I2C1_SCL I2C1
+PA14 I2C1_SDA I2C1
+
+PC4 I2C2_SCL I2C2
+PA8 I2C2_SDA I2C2
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+define HAL_I2C_INTERNAL_MASK 0
+
+define HAL_USE_I2C TRUE
+
+# ---------------------- CAN bus -------------------------
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB5  CAN2_RX CAN2
+PB6  CAN2_TX CAN2
+
+define HAL_CAN_POOL_SIZE 6000
+
+# ---------------------- UARTs ---------------------------
+# make the UARTn numbers in parameters match the silkscreen
+#           | sr0  | sr1 | sr2  | sr3  | sr4  |
+SERIAL_ORDER EMPTY  USART1 USART2 USART3 UART4
+
+PA9  USART1_TX USART1 SPEED_HIGH
+PA10 USART1_RX USART1 SPEED_HIGH
+
+PB3 USART2_TX USART2 SPEED_HIGH
+PB4 USART2_RX USART2 SPEED_HIGH
+
+PB10  USART3_TX USART3 SPEED_HIGH NODMA
+PB11  USART3_RX USART3 SPEED_HIGH NODMA
+
+PC10  UART4_TX UART4 SPEED_HIGH 
+PC11  UART4_RX UART4 SPEED_HIGH
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# ----------- ADC
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE

libraries/AP_HAL_ChibiOS/hwdef/common/flash.c

@@ -520,10 +520,16 @@ bool stm32_flash_erasepage(uint32_t page)
     FLASH->CR |= FLASH_CR_STRT;
 #elif defined(STM32G4)
     FLASH->CR = FLASH_CR_PER;
-    // rather oddly, PNB is a 7 bit field that the ref manual says can
-    // contain 8 bits we assume that for 512k single bank devices
-    // there is an 8th bit
+#ifdef FLASH_CR_BKER_Pos
+    /*
+      we assume dual bank mode, we set the bottom 7 bits of the page
+      into PNB and the 8th bit into BKER
+    */
+    FLASH->CR |= (page&0x7F)<<FLASH_CR_PNB_Pos | (page>>7)<<FLASH_CR_BKER_Pos;
+#else
+    // this is a single bank only varient
     FLASH->CR |= page<<FLASH_CR_PNB_Pos;
+#endif
     FLASH->CR |= FLASH_CR_STRT;
 #elif defined(STM32L4PLUS)
     FLASH->CR |= FLASH_CR_PER;