From 025bd7e0d84d0c7bf07e295b0b538843656f123f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 17 Feb 2019 21:01:11 +1100
Subject: [PATCH] HAL_ChibiOS: added support for TBS-Colibri-F7

This is a fmuv5 board varient
---
 .../hwdef/TBS-Colibri-F7/hwdef-bl.dat         | 55 +++++++++++++++++++
 .../hwdef/TBS-Colibri-F7/hwdef.dat            | 51 +++++++++++++++++
 2 files changed, 106 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef-bl.dat
new file mode 100644
index 0000000000..c21e687b51
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef-bl.dat
@@ -0,0 +1,55 @@
+# hw definition file for processing by chibios_hwdef.py
+# for F765 bootloader
+
+# MCU class and specific type
+MCU STM32F7xx STM32F767xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define STM32_LSECLK 32768U
+define STM32_LSEDRV (3U << 3U)
+define STM32_PLLSRC STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 8
+define STM32_PLLN_VALUE 216
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+# board ID for firmware load
+APJ_BOARD_ID 50
+
+FLASH_SIZE_KB 2048
+
+# 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 32
+
+PC6 LED_BOOTLOADER OUTPUT HIGH
+PC7 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART2 UART7
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef.dat
new file mode 100644
index 0000000000..f23b727018
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS-Colibri-F7/hwdef.dat
@@ -0,0 +1,51 @@
+# hw definition file for processing by chibios_hwdef.py
+# for TBS Colibri F7 hardware.
+# This is a varient of fmuv5 without the IOMCU
+
+include ../fmuv5/hwdef.dat
+
+# we shift the system timer to TIM5 to allow
+# us to use TIM2 for extra PWM outputs
+STM32_ST_USE_TIMER 5
+
+# enabling PE3 on the Colibri causes it to reset on startup
+undef PE3
+undef VDD_3V3_SENSORS_EN
+PE3 DUMMY_PE3 INPUT
+
+# order of UARTs (and USB). Telem2 is UART4 on the mini, USART3 is not available
+UART_ORDER OTG1 USART1 USART2 UART4 USART6 UART7
+
+# enable TX on USART6 (disabled for fmuv5 with iomcu)
+PG14 USART6_TX USART6 NODMA
+
+# disable the IOMCU UART
+undef IOMCU_UART
+undef UART8_TX
+undef UART8_RX
+undef AP_FEATURE_SBUS_OUT
+
+# allow the first 3 capture ports to be used as PWM outputs or GPIOs
+undef PA5
+undef PB3
+undef PB11
+undef FMU_CAP1
+undef FMU_CAP2
+undef FMU_CAP3
+
+PA5  TIM2_CH1 TIM2 PWM(9)  GPIO(58)
+PB3  TIM2_CH2 TIM2 PWM(10) GPIO(59)
+PB11 TIM2_CH4 TIM2 PWM(11) GPIO(60)
+
+# RCInput on the PPM pin, for all protocols
+PI5 TIM8_CH1 TIM8 RCININT PULLUP LOW
+
+# setup for supplied power brick
+undef HAL_BATT_VOLT_SCALE
+define HAL_BATT_VOLT_SCALE 18.182
+undef HAL_BATT_CURR_SCALE
+define HAL_BATT_CURR_SCALE 36.364
+
+# setup safety switch
+PE12 LED_SAFETY OUTPUT
+PE10 SAFETY_IN INPUT PULLDOWN