From 02f20b411482c90cd283d42c25646f83fe206c85 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 4 Mar 2018 18:14:46 +1100
Subject: [PATCH] HAL_ChibiOS: first version of OMNIBUSF7V2 board support

first F7 based board
---
 Tools/ardupilotwaf/chibios.py                 |   4 +-
 .../hwdef/OMNIBUSF7V2/hwdef.dat               | 113 ++++++++++++++++++
 2 files changed, 115 insertions(+), 2 deletions(-)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 574509dfab..b3302ffdd2 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -270,7 +270,7 @@ def build(bld):
     
     bld(
         # create the file modules/ChibiOS/include_dirs
-        rule='touch Makefile && BUILDDIR=${BUILDDIR_REL} CHIBIOS=${CH_ROOT_REL} AP_HAL=${AP_HAL_REL} ${CHIBIOS_FATFS_FLAG} ${CHIBIOS_BOARD_NAME} ${MAKE} pass -f ${BOARD_MK}',
+        rule='touch Makefile && BUILDDIR=${BUILDDIR_REL} CHIBIOS=${CH_ROOT_REL} AP_HAL=${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} ${MAKE} pass -f ${BOARD_MK}',
         group='dynamic_sources',
         target='modules/ChibiOS/include_dirs'
     )
@@ -283,7 +283,7 @@ def build(bld):
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
     ch_task = bld(
         # build libch.a from ChibiOS sources and hwdef.h
-        rule="BUILDDIR='${BUILDDIR_REL}' CHIBIOS='${CH_ROOT_REL}' AP_HAL=${AP_HAL_REL} ${CHIBIOS_FATFS_FLAG} ${CHIBIOS_BOARD_NAME} '${MAKE}' lib -f ${BOARD_MK}",
+        rule="BUILDDIR='${BUILDDIR_REL}' CHIBIOS='${CH_ROOT_REL}' AP_HAL=${AP_HAL_REL} ${CHIBIOS_BUILD_FLAGS} ${CHIBIOS_BOARD_NAME} '${MAKE}' lib -f ${BOARD_MK}",
         group='dynamic_sources',
         source=common_src,
         target='modules/ChibiOS/libch.a'
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
new file mode 100644
index 0000000000..df543d0700
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
@@ -0,0 +1,113 @@
+# hw definition file for processing by chibios_pins.py
+# for OMNIBUSF7V2 hardware.
+@ thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2
+
+# board ID for firmware load
+APJ_BOARD_ID 81
+
+# crystal frequency
+OSCILLATOR_HZ 25000000
+
+FLASH_SIZE_KB 1024
+FLASH_RESERVE_START_KB 0
+
+# board voltage
+STM32_VDD 330U
+
+# only one I2C bus
+# I2C_ORDER I2C2
+
+# order of UARTs (and USB)
+UART_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PE0 LED0 OUTPUT LOW
+#PD15 BUZZER OUTPUT
+
+PA4 MPU6000_CS CS
+
+# SPI1 for IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+PA15 EXTRA_CS1 CS
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# SPI4 for SDCard
+PE4 EXTRA_CS2 CS
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# optional I2C device2, shared with USART3
+#PB10 I2C2_SCL I2C2
+#PB11 I2C2_SDA I2C2
+
+# baro is BMP280 on SPI1
+PA1 BMP280_CS CS
+
+# mag is on I2C if connected
+
+PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+ 
+PC5 RSSI_ADC ADC1
+
+# USART1
+#PA10 USART1_RX USART1
+#PA9  USART1_TX USART1
+
+# USART2 for SBUS input, RX only
+#PA3 USART2_RX USART2
+
+# USART3
+#PB11 USART3_RX USART3
+#PB10 USART3_TX USART3
+
+# USART6
+#PC7 USART6_RX USART6
+#PC6 USART6_TX USART6
+
+# UART7, RX only?
+#PE7 UART7_RX UART7
+
+#PC8 SDMMC1_D0 SDMMC1
+#PC9 SDMMC1_D1 SDMMC1
+#PC10 SDMMC1_D2 SDMMC1
+#PC11 SDMMC1_D3 SDMMC1
+#PC12 SDMMC1_CK SDMMC1
+
+PB0  TIM3_CH3 TIM3 PWM(1)
+PB1  TIM3_CH4 TIM3 PWM(2)
+PE9  TIM1_CH1 TIM1 PWM(3)
+PE11 TIM1_CH2 TIM1 PWM(4)
+
+define STM32_LSECLK   32768U
+define STM32_LSEDRV   (3U << 3U)
+define STM32_SDC_USE_SDMMC1 TRUE
+
+DMA_PRIORITY S*
+define HAL_USE_EMPTY_STORAGE
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1