Add Spektreworks boom board

Tools/AP_Periph/can.cpp

@@ -1292,7 +1292,7 @@ void AP_Periph_FW::processRx(void)
                 if (other_instance.mirror_queue == nullptr) { // we aren't mirroring here, or failed on memory
                     continue;
                 }
-                if (other_instance.index == ins.index) { // don't self add
+                if (other_instance.index == instance.index) { // don't self add
                     continue;
                 }
                 other_instance.mirror_queue->push(rxmsg);

libraries/AP_HAL_ChibiOS/hwdef/sw-boom-f407/defaults.parm

@@ -0,0 +1,22 @@
+BATT_CAPACITY 6000
+BATT_VOLT_PIN 2
+CAN_MIRROR_PORTS 3
+ESC_NUM_POLES 42
+ESC_NUM_POLES2 42
+ESC_PWM_TYPE 1
+OUT1_MAX 2000
+OUT1_MIN 1000
+OUT2_MAX 2000
+OUT2_MIN 1000
+RELAY1_DEFAULT 1
+RELAY2_DEFAULT 0
+SCR_ENABLE 1
+TEMP1_TYPE 5
+TEMP1_PIN 14
+TEMP1_SRC 3
+TEMP1_SRC_ID 1
+TEMP1_A0 -49.504657745
+TEMP1_A1 75.849555969
+TEMP1_A2 -22.5933513
+TEMP1_A3 -0.18553680181
+TEMP1_A4 1.5855249629

libraries/AP_HAL_ChibiOS/hwdef/sw-boom-f407/hwdef-bl.dat

@@ -0,0 +1,39 @@
+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 64
+FLASH_SIZE_KB 512
+
+# board ID for firmware load
+APJ_BOARD_ID 6001
+
+env AP_PERIPH 1
+
+define CAN_APP_NODE_NAME "sw-boom-f407-bl"
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# activity led
+PC8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# can2 is the tail boom section, disable it
+#PB5 CAN2_RX CAN2
+#PB6 CAN2_TX CAN2
+PC14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW HIGH
+
+# setup important outputs
+PA5  SAGETECH_MAINT OUTPUT GPIO(0) HIGH # force sagetech to maintenance mode
+PD15 CHARGER_EN     OUTPUT GPIO(3) LOW # disable the charger
+PB10 BAT_HEATER OUTPUT PUSHPULL SPEED_LOW LOW # disable the battery heater
+
+define HAL_USE_SERIAL FALSE

libraries/AP_HAL_ChibiOS/hwdef/sw-boom-f407/hwdef.dat

@@ -0,0 +1,119 @@
+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+FLASH_RESERVE_START_KB 64
+FLASH_SIZE_KB 512
+
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 2
+
+# board ID for firmware load
+APJ_BOARD_ID 6001
+
+env AP_PERIPH 1
+
+define STM32_ST_USE_TIMER 5
+
+define CAN_APP_NODE_NAME "sw-boom-f407"
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# activity led
+PC8 LED OUTPUT LOW
+define HAL_LED_ON 1
+
+# JTAG
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+PB7 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# we want to be able to mirror CAN onto both buses
+define HAL_PERIPH_CAN_MIRROR 1
+
+# UARTs
+# | nav light | esc front | esc rear | transponder |
+SERIAL_ORDER USART6 USART2 USART3 UART4
+
+# USART6 nav light
+PC6  USART6_TX USART6 SPEED_HIGH DMA
+
+# USART2 front esc
+PD6 USART2_RX USART2 SPEED_HIGH DMA
+
+# USART3 rear esc
+PD9  USART3_RX USART3 SPEED_HIGH DMA
+
+# USART4 transponder
+PA0 UART4_TX UART4 SPEED_HIGH DMA
+PA1 UART4_RX UART4 SPEED_HIGH DMA
+
+# APD telem
+define HAL_PERIPH_ENABLE_ESC_APD 1
+define APD_ESC_INSTANCES 2
+define APD_ESC_SERIAL_0 1
+define APD_ESC_SERIAL_1 2
+
+# pwm
+define HAL_PERIPH_ENABLE_RC_OUT
+PE9   TIM1_CH1  TIM1 PWM(1) GPIO(51) # esc front
+PE11  TIM1_CH2  TIM1 PWM(2) GPIO(52) # esc rear
+PB11  TIM2_CH4  TIM2 PWM(4) GPIO(54) # aux 3
+
+# gpio
+PA5  SAGETECH_MAINT OUTPUT GPIO(0) LOW
+PB3  POWER_GOOD2    INPUT  GPIO(1) # 7.4v secondary
+PD7  POWER_GOOD1    INPUT  GPIO(2) # 28v primary
+PD15 CHARGER_EN     OUTPUT GPIO(3) low # charger
+PE4  ID_PIN         INPUT  GPIO(4) # high on left, low on right
+PB10 HEAT_PIN       OUTPUT GPIO(5) LOW # heater control, low is heater off, high is heater on
+PB12 AUX3           OUTPUT GPIO(6) # aux 3
+
+define HAL_PERIPH_ENABLE_RELAY 1
+define AP_RELAY_ENABLED 1
+define RELAY1_PIN_DEFAULT 3
+define RELAY2_PIN_DEFAULT 5
+
+
+# battery
+define HAL_PERIPH_ENABLE_BATTERY
+define HAL_PERIPH_BATTERY_SKIP_NAME
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+define AP_BATT_MONITOR_MAX_INSTANCES 4
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# vtol voltage
+PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) # pin 2
+# vtol current
+PA3 BATT_CURRENT_SENS ADC1 SCALE(1) # pin 3
+# servo voltage
+PA4 SERVO_VOLTAGE_SENS ADC1 SCALE(1) # pin 4
+# 5V voltage
+PA6 SUPPLY_VOLTAGE_SENS ADC1 SCALE(1) # pin 6
+# 28V voltage
+PB1 BATT_28V_SENS ADC1 SCALE(1) # pin 9
+# 5v backup voltage
+PC0 BATT_5V_SEC_SENS ADC1 SCALE(1) # pin 10
+# 5v primary
+PC2 BATT_5V_PRIM_SENS ADC1 SCALE(1) # pin 12
+# battery temperature
+PC4 BATT_TEMP_SENS ADC1 SCALE(1) # pin 14
+
+# temperature
+define AP_TEMPERATURE_SENSOR_ENABLED 1
+define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 1
+
+# Scripting
+define AP_SCRIPTING_ENABLED 1
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+
+# don't build on firmware.ardupilot.org
+AUTOBUILD_TARGETS None

libraries/AP_HAL_ChibiOS/hwdef/sw-boom-f407/scripts/params.lua

@@ -0,0 +1,28 @@
+-- load default parameters depending upon if the board is a left or a right
+
+defaults = {}
+
+forced = {{"BATT_SERIAL_NUM",   2,   3},
+          {"CAN_NODE",        109, 110},
+          {"ESC_NUMBER",        2,   0},
+          {"ESC_NUMBER2",       1,   3},
+          {"RELAY1_FUNCTION",  17,  18},
+          {"RELAY2_FUNCTION",  19,  20},
+          {"OUT1_FUNCTION",    35,  33},
+          {"OUT2_FUNCTION",    34,  36}}
+
+local index
+if gpio:read (4) then -- id pin is pin 4, high if it's a left
+  index = 2
+else
+  index = 3
+end
+
+function set_table(fn, table)
+  for _,values in ipairs (table) do
+    assert(fn(param, values[1], values[index]), "not set the parameter: " .. values[index])
+  end
+end
+
+set_table(param.set_default, defaults)
+set_table(param.set_and_save, forced)