hwdef: Added FSO_POWER_STACK peripheral

libraries/AP_HAL_ChibiOS/hwdef/FSOPowerStack/defaults.parm

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+BATT_MONITOR 4
+BATT_VOLT_PIN 93
+BATT_CURR_PIN 91
+BATT_AMP_PERVLT 1
+BATT_VOLT_MULT 1
+
+BATT2_MONITOR 4
+BATT2_VOLT_PIN 94
+BATT2_CURR_PIN 92
+BATT2_AMP_PERVLT 1
+BATT2_VOLT_MULT 1
+
+# Payload HV
+BATT3_MONITOR 21
+BATT3_I2C_BUS 0
+BATT3_I2C_ADDR 65
+BATT3_SHUNT 0.001
+BATT3_MAX_AMPS 30
+
+# Payload Out 1
+BATT4_MONITOR 21
+BATT4_I2C_BUS 1
+BATT4_I2C_ADDR 64
+BATT4_SHUNT 0.001
+BATT4_MAX_AMPS 20
+
+# Payload Out 2
+BATT5_MONITOR 21
+BATT5_I2C_BUS 1
+BATT5_I2C_ADDR 69
+BATT5_SHUNT 0.001
+BATT5_MAX_AMPS 20
+
+# High Power 5.3
+BATT6_MONITOR 21
+BATT6_I2C_BUS 1
+BATT6_I2C_ADDR 65
+BATT6_SHUNT 0.001
+BATT6_MAX_AMPS 20
+
+# 5.3 - 1
+BATT7_MONITOR 21
+BATT7_I2C_BUS 0
+BATT7_I2C_ADDR 68
+BATT7_SHUNT 0.001
+BATT7_MAX_AMPS 5
+
+# 5.3 - 2
+BATT8_MONITOR 21
+BATT8_I2C_BUS 0
+BATT8_I2C_ADDR 69
+BATT8_SHUNT 0.001
+BATT8_MAX_AMPS 5

libraries/AP_HAL_ChibiOS/hwdef/FSOPowerStack/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G474xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 32
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# 512k flash part
+FLASH_SIZE_KB 512
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_FSO_POWER_STACK
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# order of UARTs
+SERIAL_ORDER USART2
+
+# LED
+PB2 LED_BOOTLOADER OUTPUT HIGH # change to PD2
+
+define HAL_LED_ON 0
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART1 FALSE
+define STM32_SERIAL_USE_USART2 TRUE
+define STM32_SERIAL_USE_USART3 FALSE
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+
+define DMA_RESERVE_SIZE 0
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define CAN_APP_NODE_NAME "org.ardupilot.FSO_Power_Stack"
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a smaller bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 2500
+
+# do I need to define pins as pull down so the bootloader doesn't blow things up?

libraries/AP_HAL_ChibiOS/hwdef/FSOPowerStack/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G474xx
+
+FLASH_RESERVE_START_KB 36
+
+STORAGE_FLASH_PAGE 16
+define HAL_STORAGE_SIZE 800
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_FSO_POWER_STACK
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+# Enable Options
+define AP_TEMPERATURE_SENSOR_ENABLED 1
+define AP_TEMPERATURE_SENSOR_TSYS03_ENABLED 1
+define HAL_PERIPH_ENABLE_BATTERY
+define AP_BATTERY_INA2XX_ENABLED 1
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+
+define AP_BATT_MONITOR_MAX_INSTANCES 8
+define AP_BATTERY_BACKEND_DEFAULT_ENABLED 0
+define AP_BATTERY_INA2XX_ENABLED 1
+define AP_BATTERY_ANALOG_ENABLED 1
+
+# Disable Options
+define HAL_NO_RCIN_THREAD
+define HAL_NO_RCOUT_THREAD
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define HAL_NO_GPIO_IRQ
+define HAL_DISABLE_LOOP_DELAY
+
+# Set Options
+define DMA_RESERVE_SIZE 0
+
+env DISABLE_SCRIPTING 1
+
+# order of UARTs
+SERIAL_ORDER UART4 UART5
+
+# UARTs
+
+# UART4, External Serial Port
+PC10    UART4_TX   UART4
+Pc11    UART4_RX   UART4
+PB7     UART4_CTS  UART4
+PA15    UART4_RTS  UART4
+
+# UART5, External Serial Port
+PC12    UART5_TX   UART5
+PD2     UART5_RX   UART5
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# I2C2 is Control and Power Distribution Board
+PA8 I2C2_SDA I2C2
+PA9 I2C2_SCL I2C2
+
+# I2C3 is Auxiliary Power Board
+PC8 I2C3_SCL I2C3
+PC9 I2C3_SDA I2C3
+
+# I2C4 is External I2C Port
+PC6 I2C4_SCL I2C4
+PC7 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C2 I2C3 I2C4
+
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+
+# analog in
+PA0     ADC_MAIN_VOLTAGE    ADC1    SCALE(1)    ANALOG(90)
+PC0     ADC_BAT_1_CURRENT   ADC1    SCALE(1)    ANALOG(91)
+PC1     ADC_BAT_2_CURRENT   ADC1    SCALE(1)    ANALOG(92)
+PC2     ADC_BAT_1_VOLTAGE   ADC1    SCALE(1)    ANALOG(93)
+PC3     ADC_BAT_2_VOLTAGE   ADC1    SCALE(1)    ANALOG(94)
+# VBat channel should be here somewhere too
+
+# Fan Tachometer Inputs
+PA6     TACH_1  INPUT   OPENDRAIN   GPIO(60) # Input Fan1 Tach
+PA7     TACH_2  INPUT   OPENDRAIN   GPIO(61) # Input Fan2 Tach
+PB0     TACH_3  INPUT   OPENDRAIN   GPIO(62) # Input Fan3 Tach
+PB1     TACH_4  INPUT   OPENDRAIN   GPIO(63) # Input Fan4 Tach
+
+# PDB input switches
+PB12    SWITCH_MAIN         INPUT   OPENDRAIN   GPIO(64)
+PB14    SWITCH_PAYLOAD      INPUT   OPENDRAIN   GPIO(65)
+
+# PDB controls
+PB10    PAYLOAD_PC      OUTPUT  PULLDOWN    GPIO(70)    LOW
+PB11    PAYLOAD_EN      OUTPUT  PULLDOWN    GPIO(71)    LOW
+PC4     PAYLOAD_1_EN    OUTPUT  PULLDOWN    GPIO(72)    LOW
+PC5     PAYLOAD_2_EN    OUTPUT  PULLDOWN    GPIO(73)    LOW
+PC13    MAIN_PC         OUTPUT  PULLDOWN    GPIO(74)    LOW
+PC14    BAT_1_EN        OUTPUT  PULLDOWN    GPIO(75)    LOW
+PC15    BAT_2_EN        OUTPUT  PULLDOWN    GPIO(76)    LOW
+
+# LEDs
+PA1     LED_RED     OUTPUT  PULLDOWN    GPIO(80)    LOW
+PA2     LED_GREEN   OUTPUT  PULLDOWN    GPIO(81)    LOW
+PA3     LED_BLUE    OUTPUT  PULLDOWN    GPIO(82)    LOW
+PA10    TIM1_CH3    TIM1    PWM(3)      GPIO(83)    LOW # Status NTF_LED LED
+PB2     LED_BOOT    OUTPUT  PULLDOWN    GPIO(84)    LOW
+PB13    LED_MAIN    OUTPUT  PULLDOWN    GPIO(85)    LOW
+PB15    LED_PAYLOAD OUTPUT  PULLDOWN    GPIO(86)    LOW
+
+# setup for "pixracer" RGB LEDs
+define HAL_GPIO_A_LED_PIN 80
+define HAL_GPIO_B_LED_PIN 81
+define HAL_GPIO_C_LED_PIN 82
+define HAL_GPIO_LED_ON 1
+define HAL_GPIO_LED_OFF 0
+
+define HAL_HAVE_PIXRACER_LED
+
+define HAL_NO_LOGGING
+define HAL_NO_MONITOR_THREAD
+
+define HAL_DEVICE_THREAD_STACK 768
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True