AP_HAL_ChibiOS:add vimdrones ap_periph pico and servo hub 4chp

Author: Huibean

Tools/bootloaders/VM-L431-Periph-Pico_bl.bin

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+### VM-L431-Periph-Pico
+
+Vimdrones AP_Periph Pico board to convert serial(GPS) and I2C(COMPASS/Air Speed) device in to Dronecan device.
+
+#### Hardware Features
+
+- STM32L431 microcontroller
+- CAN bus interface
+- 1 Telem with I2C 
+- 1 Telem with Flow Control 
+
+#### Wiring Diagram
+
+![Vimdrones AP_Periph Pico Wiring Diagram](vimdrones_ap_periph_pico_wiring.png)

Tools/bootloaders/VM-L431-Periph-Pico_bl.hex

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+FORMAT_VERSION 2
+CAN_NODE 0 
+CAN_BAUDRATE 1000000

Tools/bootloaders/VM-L431-SRV-Hub-4CHP_bl.bin

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+include ../VM-L431/hwdef-bl.inc

Tools/bootloaders/VM-L431-SRV-Hub-4CHP_bl.hex

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+include ../VM-L431/hwdef.inc
+
+define CAN_APP_NODE_NAME "com.vimdrones.periph_pico"
+SERIAL_ORDER EMPTY USART1 USART2
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+PB4 USART1_CTS USART1
+PB3 USART1_RTS USART1
+
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# one I2C bus
+I2C_ORDER I2C1
+PA9 I2C1_SCL I2C1
+PA10 I2C1_SDA I2C1
+
+define HAL_USE_ADC FALSE 
+
+# GPS / default enable 
+define AP_PERIPH_GPS_ENABLED 1
+define GPS_MAX_RATE_MS 200
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+
+define HAL_PERIPH_GPS_PORT_DEFAULT 2 
+
+# Compass / default enable
+define AP_PERIPH_MAG_ENABLED 1
+define HAL_COMPASS_MAX_SENSORS 1
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+define AP_PERIPH_SERIAL_OPTIONS_ENABLED 1
+
+# Rangefinder
+define AP_PERIPH_RANGEFINDER_ENABLED 1
+# disable rangefinder by default
+define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
+
+# MSP
+define AP_PERIPH_MSP_ENABLED 1
+define HAL_MSP_ENABLED 1
+define AP_PERIPH_MSP_PORT_DEFAULT -1
+
+# ADSB
+define AP_PERIPH_ADSB_ENABLED 1
+define HAL_PERIPH_ADSB_PORT_DEFAULT -1
+
+# BARO
+define AP_PERIPH_BARO_ENABLED 1
+define BARO_MAX_INSTANCES 1
+
+# bootloader embedding / bootloader flashing not available
+define AP_BOOTLOADER_FLASHING_ENABLED 0

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico/README.md

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+### VM-L431-SRV-Hub-4CHP
+
+Vimdrones CAN Servo Hub peripheral with 4 channels PWM output and 4 channel Servo VCC current measure (4CHP).
+
+#### Hardware Features
+
+- STM32L431 microcontroller
+- CAN bus interface
+- 4 PWM output channels
+- 4 ADC inputs for current sensing
+
+#### Wiring Diagram
+
+![Vimdrones CAN Servo Hub 4CHP Wiring Diagram](vimdrones_can_servo_hub_4chp_wiring.png)

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico/defaults.parm

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+FORMAT_VERSION 2
+CAN_NODE 0
+CAN_BAUDRATE 1000000

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico/hwdef-bl.dat

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+include ../VM-L431/hwdef-bl.inc

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico/hwdef.dat

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+include ../VM-L431/hwdef.inc
+
+define CAN_APP_NODE_NAME "com.vimdrones.srv-hub-4ch-p"
+SERIAL_ORDER USART1
+PB6 USART1_TX USART1 NODMA
+PB7 USART1_RX USART1 NODMA
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+define HAL_USE_ADC FALSE 
+
+#Servo VCC Current Sampling, for future development
+# define STM32_ADC_USE_ADC1 TRUE
+# PA4 SPARE1_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(1)
+# PA5 SPARE2_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(2)
+# PA6 SPARE3_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(3)
+# PA7 SPARE4_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(4)
+
+define AP_PERIPH_RC_OUT_ENABLED 1
+
+# --------------------- PWM -----------------------
+PA15  TIM2_CH1  TIM2 PWM(1) GPIO(50)
+PB3   TIM2_CH2  TIM2 PWM(2) GPIO(51)
+PA2   TIM2_CH3  TIM2 PWM(3) GPIO(52)
+PA3   TIM2_CH4  TIM2 PWM(4) GPIO(53)
+
+# bootloader embedding / bootloader flashing not available
+define AP_BOOTLOADER_FLASHING_ENABLED 0

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico/vimdrones_ap_periph_pico_wiring.png

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+# hw definition file Vimdrones L431 CAN node
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+define STM32_HSE_BYPASS
+
+# board ID for firmware load
+APJ_BOARD_ID 1407 
+
+# 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
+
+# enable CAN support
+define CAN_APP_NODE_NAME "com.vimdrones.periph_bl"
+PA11 CAN1_RX CAN1
+PA12 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 FALSE
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-SRV-Hub-4CHP/README.md

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+# hw definition file for Vimdrones 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 1407
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+define STM32_HSE_BYPASS
+
+env AP_PERIPH 1
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+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
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# ---------------------- CAN bus -------------------------
+CAN_ORDER 1
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+define HAL_CAN_POOL_SIZE 6000
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True