AP_HAL_CHibiOS: add new hwdef target for SkystarsH7HD

libraries/AP_HAL_ChibiOS/hwdef/SkystarsH7HD/README.md

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+# Skystars H7 Flight Controller
+
+The Skystars H7 is a flight controller produced by [Skystars](http://www.skystars-rc.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI270 IMU
+ - BMP280 barometer
+ - AT7456E OSD
+ - 6 UARTs
+ - 9 PWM outputs
+
+## Pinout
+
+![Skystars H7HD Board](SkystarsH7HD.jpg.jpg "Skystars H7HD")
+
+## UART Mapping
+
+The UARTs are marked RX and TX in the above pinouts. The RX pin is the
+receive pin for UARTn. The TX pin is the transmit pin for UARTn.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (Telem1)
+ - SERIAL2 -> UART2 (Telem2)
+ - SERIAL3 -> UART3 (GPS)
+ - SERIAL4 -> UART4
+ - SERIAL5 -> not available
+ - SERIAL6 -> UART6
+ - SERIAL7 -> UART7
+
+## RC Input
+
+RC input is configured on the R6 (UART6_RX) pin. It supports all RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should set BRD_ALT_CONFIG=1 and setup
+SERIAL6 as an RC input serial port, with half-duplex, pin-swap
+and inversion enabled.
+
+
+## OSD Support
+
+The Skystars H7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The Skystars H7 supports up to 9 PWM outputs. The pads for motor output
+M1 to M8 on the two motor connectors, plus M9 for LED strip or another
+PWM output.
+
+The PWM is in 5 groups:
+
+ - PWM 1, 2 in group1
+ - PWM 3, 4 in group2
+ - PWM 5, 6 in group3
+ - PWM 7, 8 in group4
+ - PWM 9 in group5
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot.
+
+## Battery Monitoring
+
+The board has a builtin voltage and current sensor. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 10.1
+ - BATT_AMP_PERVLT 17.0
+
+## Compass
+
+The Skystars H7 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.

libraries/AP_HAL_ChibiOS/hwdef/SkystarsH7HD/defaults.parm

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+# setup for Neopixel
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257
+NTF_LED_LEN 1
+
+# set up Sbus-in
+SERIAL7_PROTOCOL 23
+SERIAL7_BAUDRATE 115
+SERIAL7_OPTIONS 3
+
+# set up ExpressLRS (ELRS)
+SERIAL1_PROTOCOL 23
+SERIAL1_BAUDRATE 115
+RSSI_TYPE 3
+
+

libraries/AP_HAL_ChibiOS/hwdef/SkystarsH7HD/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for SkystarsH7HD bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1075
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PB3 BUZZER OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT HIGH
+PE4 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+define HAL_LED_OFF 1
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PC15 BMI270_CS1 CS
+PB12 AT7456E_CS CS
+PA15 FLASH_CS CS
+PE11 BMI270_CS2 CS
+
+PC5 VTX_PWR OUTPUT LOW      # labelled as "Pit-1"
+PC2 VID_SELECT OUTPUT LOW   # labelled as "PIN-EN"
+PD2 CAM_C OUTPUT LOW        # labelled as "CAM-C"

libraries/AP_HAL_ChibiOS/hwdef/SkystarsH7HD/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for SkystarsH7HD
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1075
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O2
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# leave 1 sectors free
+FLASH_RESERVE_START_KB 128
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
+
+# buzzer
+PB3 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+define HAL_PWM_ALT_ALARM
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for BMI270 (Gyro 1)
+PC15 BMI270_CS1 CS
+PA5  SPI1_SCK SPI1
+PA6  SPI1_MISO SPI1
+PD7  SPI1_MOSI SPI1
+PB2  BMI270_INT1 INPUT
+
+# SPI2 for AT7456E OSD
+PB12 AT7456E_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 for W25Q128 dataflash
+PA15 FLASH_CS CS
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# SPI4 for BMI270 (Gyro 2)
+PE11 BMI270_CS2 CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+PE15 BMI270_INT2 INPUT
+
+DMA_PRIORITY TIM1* TIM4* TIM3* TIM2* SPI1* SPI4*
+DMA_NOSHARE SPI1_RX SPI2_TX SPI4_RX USART6_RX
+
+# spi devices
+SPIDEV bmi270_1  SPI1 DEVID1 BMI270_CS1 MODE3  1*MHZ  10*MHZ
+SPIDEV osd       SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
+SPIDEV dataflash SPI3 DEVID3 FLASH_CS   MODE3 32*MHZ 32*MHZ
+SPIDEV bmi270_2  SPI4 DEVID4 BMI270_CS2 MODE3  1*MHZ  10*MHZ
+
+# one I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1 - external
+PB8  I2C1_SCL I2C1
+PB9  I2C1_SDA I2C1
+
+# I2C2 - internal Baro
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# VTX Power control - should be high at startup to ensure power
+PC5 VTX_PWR OUTPUT LOW GPIO(81)     # labelled as "Pit-1"
+PC2 VID_SELECT OUTPUT LOW GPIO(82)  # labelled as "PIN-EN"
+PD2 CAM_C OUTPUT LOW GPIO(83)       # labelled as "CAM-C"
+
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_VOLT_PIN 10
+define HAL_BATT2_CURR_PIN 12
+define HAL_BATT_VOLT_SCALE 11.1
+define HAL_BATT_CURR_SCALE 59.5
+define HAL_BATT2_VOLT_SCALE 11.1
+define HAL_BATT2_CURR_SCALE 59.5
+
+PC3 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 13
+
+PE3 LED0 OUTPUT LOW GPIO(90) # red, labelled as LED1
+PE4 LED1 OUTPUT LOW GPIO(91) # blue, labelled as LED2
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 91
+define HAL_GPIO_LED_OFF 1
+
+# USART1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# UART4
+PD0 UART4_RX UART4
+PD1 UART4_TX UART4
+
+# UART5
+PB5 UART5_RX UART5
+PB6 UART5_TX UART5
+
+# USART6 (RX / SBUS)
+# as an alternative config setup the RX6 pin as a uart. This allows
+# for bi-directional UART based receiver protocols such as FPort
+# without any extra hardware
+PC6 USART6_TX USART6 NODMA
+PC7 USART6_RX USART6 NODMA ALT(1)
+
+# UART7
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# UART8
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+define HAL_SERIAL6_PROTOCOL SerialProtocol_RCIN
+define HAL_SERIAL6_BAUD 115
+
+# Motors
+PB0  TIM1_CH2N TIM1 PWM(1) GPIO(50)
+PB1  TIM1_CH3N TIM1 PWM(2) GPIO(51)
+PD12 TIM4_CH1  TIM4 PWM(3) GPIO(52)
+PD13 TIM4_CH2  TIM4 PWM(4) GPIO(53)
+PA0  TIM2_CH1  TIM2 PWM(5) GPIO(54)
+PA1  TIM2_CH2  TIM2 PWM(6) GPIO(55)
+PA2  TIM2_CH3  TIM2 PWM(7) GPIO(56)
+PA3  TIM2_CH4  TIM2 PWM(8) GPIO(57)
+
+# LED strip WS2812 / Neopixel
+PA8  TIM1_CH1  TIM1 PWM(9) GPIO(58)
+
+# RC input defaults to timer capture
+PC7  TIM3_CH2 TIM3 RCININT PULLDOWN LOW
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+
+# two IMU
+IMU BMI270 SPI:bmi270_1 ROTATION_ROLL_180_YAW_90
+IMU BMI270 SPI:bmi270_2 ROTATION_ROLL_180
+
+# one BARO
+BARO BMP280 I2C:0:0x76
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+define STM32_PWM_USE_ADVANCED TRUE