AP_HAL_ChibiOS: add Holybro KakuteH7-Wing

libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing/README.md

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+# KakuteH7-Wing Flight Controller
+
+The KakuteH7-Wing is a flight controller produced by [Holybro](http://www.holybro.com/).
+
+## Features
+    Processor
+        STM32H743 32-bit processor
+        AT7456E OSD
+    Sensors
+        ICM42688 Acc/Gyro
+        BMP280 barometer
+    Power
+        2S - 8S Lipo input voltage with voltage monitoring
+        9V/12V, 1.5A BEC for powering Video Transmitter
+        6V/7.2V, ?A BEC for servos
+        3.3V, 1A BEC
+    Interfaces
+        14x PWM outputs DShot capable, 4 outputs BiDirDShot capable
+        1x RC input
+        6x UARTs/serial for GPS and other peripherals
+        2x I2C ports for external compass, airspeed, etc.
+        USB-C port
+        Switchable 9V/12V VTX power
+        2 Switchable Camera inputs
+        All UARTS support hardware inversion. SBUS, SmartPort, and other inverted protocols work on any UART without “uninvert hack”
+        Input for second battery monitor
+
+## Pinout
+
+![KakuteH7-Wing Board](KakuteH7-Wing-pinout.jpg "KakuteH7-Wing)
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART7 (TELEM1) with CTS/RTS DMA Enabled
+ - SERIAL2 -> UART2 (Telem2) DMA Enabled
+ - SERIAL3 -> UART1 (GPS) DMA Enabled
+ - SERIAL4 -> USART3 (GPS2)
+ - SERIAL5 -> UART5 (User) DMA Enabled
+ - SERIAL6 -> USART6 (RX normally RCIN, BRD_ALT_CONFIG =1 for normal UART RX)
+ - SERIAL7 -> UART8 (User) DMA Enabled
+
+## 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 KakuteH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The KakuteH7 supports up to 14 PWM outputs. Outputs 1-10 support DShot. Outputs 5-8 support BiDirDshot.
+
+The PWM is in 5 groups:
+
+ - PWM 1-4 in group1
+ - PWM 5,6 in group2
+ - PWM 7,8 in group3
+ - PWM 9,10 in group4
+ - PWM 11-13 in group5
+ - PWM 14 in group6
+
+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 builting voltage and current sensor. The current
+sensor can read up to ?? Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 8
+ - BATT_CURR_PIN 4
+ - BATT_VOLT_MULT 18.18
+ - BATT_AMP_PERVLT 36.6
+ 
+## Switchable Vidoe Supply and Camera Inputs
+
+The camera input defaults to CAM1 but can be switched to CAM2 by setting a relay set to pin 81. Both cameras should be the same video format.
+
+The 9V/12V video supply can be switched off (default is on) using a relay set topin 82.
+
+## Compass
+
+The KakuteH7-Wing does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Loading Firmware
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “KakuteH7-Wing”.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "KakuteH7-Wing_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Subsequently, you can update firmware with Mission Planner.
+
+

libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteH7-WING bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1105
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 16000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 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
+
+# make sure Vsw is on during bootloader
+PE3   PINIO2 OUTPUT LOW
+
+PC15 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PE12 ICM42688_CS CS
+PB12 MAX7456_CS CS
+PC8 BMI088_A_CS CS
+PC9 BMI088_G_CS CS
+
+#silence buzzer during boot
+PB9 BUZZER OUTPUT GPIO(80) LOW

libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteH7-WING
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1105
+
+# crystal frequency, setup to use external oscillator (16Mhz)
+OSCILLATOR_HZ 16000000
+
+FLASH_SIZE_KB 2048
+env OPTIMIZE -Os
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for IMU1 (BMI088)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PC8 BMI088_A_CS CS
+PC9 BMI088_G_CS CS
+PD11 DRDY1_BMI088_ACC INPUT
+PD10 DRDY2_BMI088_GYRO INPUT
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PD3 SPI2_SCK SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+
+#SPI3 for IMU1 (ICM42688)
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+PE12 ICM42688_CS CS
+PE15 DRDY1_ICM42688 INPUT
+
+# three I2C bus
+I2C_ORDER I2C4 I2C1 I2C2
+
+# I2C4 (BMP280 BARO)
+PD12 I2C4_SCL I2C4
+PD13 I2C4_SDA I2C4
+
+# I2C1
+PB8 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA3 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA2 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 8
+define HAL_BATT_CURR_PIN 4
+define HAL_BATT2_VOLT_PIN 15
+define HAL_BATT2_CURR_PIN 14
+define HAL_BATT_VOLT_SCALE 18.18
+define HAL_BATT_CURR_SCALE 36.6
+define HAL_BATT2_VOLT_SCALE 11.0
+
+PC0 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 10
+
+# LED
+# green LED1 marked as B/E
+# blue LED0 marked as ACT
+PC15 LED0 OUTPUT LOW GPIO(90) # blue
+PC14 LED1 OUTPUT LOW GPIO(91) # red
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART2 USART1 USART3 UART5 USART6 UART8 OTG2
+
+# USART1 (GPS1, SERIAL3)
+PA10 USART1_RX USART1
+PB6  USART1_TX USART1
+
+
+# USART2 (TELEM2, SERIAL2)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (GPS2, SERIAL4)
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART5 (USER, SERIAL5)
+PB13 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# USART6 (RC input), SERIAL6
+PC7 TIM8_CH2 TIM8 RCININT PULLDOWN LOW
+PC6 USART6_TX USART6 NODMA
+
+# 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
+PC7 USART6_RX USART6 NODMA ALT(1)
+
+# UART7 (TELEM1, SERIAL1)
+PE7  UART7_RX UART7
+PE8  UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9  UART7_RTS UART7
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2
+
+# UART8 (USER, SERIAL7)
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# Motors
+PA8  TIM1_CH1   TIM1  PWM(1)  GPIO(50) 
+PE11 TIM1_CH2   TIM1  PWM(2)  GPIO(51)
+PE13 TIM1_CH3   TIM1  PWM(3)  GPIO(52) 
+PE14 TIM1_CH4   TIM1  PWM(4)  GPIO(53)
+PD14 TIM4_CH3   TIM4  PWM(5)  GPIO(54) BIDIR
+PD15 TIM4_CH4   TIM4  PWM(6)  GPIO(55)
+PA0  TIM5_CH1   TIM5  PWM(7)  GPIO(56) BIDIR
+PA1  TIM5_CH2   TIM5  PWM(8)  GPIO(57)
+PE5  TIM15_CH1  TIM15 PWM(9)  GPIO(58)
+PE6  TIM15_CH2  TIM15 PWM(10) GPIO(59)
+PB5  TIM3_CH2   TIM3  PWM(11) GPIO(60) NODMA
+PB0  TIM3_CH3   TIM3  PWM(12) GPIO(61) NODMA
+PB1  TIM3_CH4   TIM3  PWM(13) GPIO(62) NODMA
+PA15 TIM2_CH1   TIM2  PWM(14) GPIO(63) NODMA
+
+# Beeper
+#PB9 TIM17_CH1 TIM17 GPIO(77) ALARM
+PB9 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# microSD support
+PB14 SDMMC2_D0  SDMMC2
+PB15 SDMMC2_D1  SDMMC2
+PB3  SDMMC2_D2  SDMMC2
+PB4  SDMMC2_D3  SDMMC2
+PC1  SDMMC2_CK  SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+# GPIOs  81:CAM SELECT,82:9V SWITCH,83: USER1,84:USER2
+PC13  PINIO1 OUTPUT GPIO(81) LOW
+PE3   PINIO2 OUTPUT GPIO(82) HIGH
+PD4   PINIO3 OUTPUT GPIO(83) LOW
+PE4   PINIO4 OUTPUT GPIO(84) LOW
+
+#Power Control and Status
+PA9 VBUS_VALID INPUT
+PB2 VDD_3V3_SENSORS_EN OUTPUT HIGH
+PA4 VDD_5V_SENS  ADC1 SCALE(2)
+PE2 VDD_BRICK_nVALID INPUT FLOAT
+
+define HAL_STORAGE_SIZE 32768
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+
+# spi devices
+SPIDEV bmi088_a       SPI1 DEVID1  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV bmi088_g       SPI1 DEVID2  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV icm42688       SPI3 DEVID1  ICM42688_CS     MODE3  2*MHZ  8*MHZ
+SPIDEV osd            SPI2 DEVID3  MAX7456_CS      MODE0 10*MHZ 10*MHZ
+
+DMA_NOSHARE SPI1* SPI3* TIM4* TIM5*
+
+# 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 1
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# One IMU (orientation needs to be determined)
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
+
+# BMP280 integrated on I2C4 bus
+BARO BMP280 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE