AP_HAL_ChibiOS: hardware definitions for Kakute F7 Mini

libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/README.md

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+# KakuteF7 Mini Flight Controller
+
+http://www.holybro.com/product/kakute-f7-mini/
+
+The KakuteF7 Mini is a flight controller produced by [Holybro](http://www.holybro.com/product/59).
+
+## Features
+
+ - STM32F745 microcontroller
+ - ICM20689 IMU
+ - BMP280 barometer
+ - 128Mbit dataflash
+ - MAX7456 OSD
+ - 6 UARTs
+ - 6 PWM outputs
+
+### KakuteF7 Mini Pinout
+
+![KakuteF7 Mini Board](kakutef7mini.jpg "KakuteF7 Mini")
+
+## 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 -> UART1 (Telem1)
+ - SERIAL2 -> UART2 (Telem2)
+ - SERIAL3 -> UART3 (GPS)
+ - SERIAL4 -> UART4
+ - SERIAL6 -> UART6 (Transmit only, FrSky)
+ - SERIAL7 -> UART7 (Receive only, ESC Telemetry)
+
+## ESC Telemetry
+
+The SERIAL7 port (UART7) is for ESC telemetry. It is connected through the
+motor connector and works out of the box with the [Tekko32 F3 Mini](https://shop.holybro.com/tekko32-f3-4in1-45a-mini-esc_p1132.html) which is commonly paired with this flight controller
+
+## RC Input
+ 
+RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+ 
+  - SERIAL6_PROTOCOL 10
+  - SERIAL6_OPTIONS 7
+  
+## OSD Support
+
+The KakuteF7 Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The KakuteF7 supports up to 6 PWM outputs. M1 to M4 are accessed via the connector. M5 and M6 are the pads shown on the above diagram. All 6 outputs support DShot as well as all PWM types.
+
+The PWM is in 3 groups:
+
+ - PWM 1, 2 and 3 in group1
+ - PWM 4 and 5 in group2
+ - PWM 6 in group3
+
+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 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 13
+ - BATT_CURR_PIN 12
+ - BATT_VOLT_MULT 10.9
+ - BATT_AMP_PERVLT 28.5
+
+## Compass
+
+The KakuteF7 Mini 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.
+
+Note that this hardware has problems going into DFU mode if a GPS is connected and powered - please disconnect your GPS when flashing for the first time.
+
+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/KakuteF7Mini/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteF7 Mini bootloader
+
+include ../KakuteF7/hwdef-bl.dat
+undef APJ_BOARD_ID
+
+APJ_BOARD_ID 145

libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteF7 Mini hardware.
+@ thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 145
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+define STM32_LSECLK   32768U
+define STM32_LSEDRV   (3U << 3U)
+
+define STM32_PLLSRC     STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 8
+define STM32_PLLN_VALUE 432
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+FLASH_SIZE_KB 1024
+
+# leave 2 sectors free
+FLASH_RESERVE_START_KB 96
+
+# board voltage
+STM32_VDD 330U
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
+UART_ORDER OTG1 USART3 USART1 USART2 UART4 EMPTY USART6 UART7
+
+# buzzer
+PD15 TIM4_CH4 TIM4 GPIO(77) ALARM
+#PD15 BUZZER OUTPUT GPIO(80) LOW
+#define HAL_BUZZER_PIN 80
+#define HAL_BUZZER_ON 1
+#define HAL_BUZZER_OFF 0
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for M25P16 dataflash
+PA4 FLASH_CS CS
+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
+
+# SPI4 for ICM20689
+PE4 ICM20689_CS CS
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# I2C1 for baro
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 13
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_VOLT_SCALE 10.9
+define HAL_BATT_CURR_SCALE 28.5
+
+PC5 RSSI_ADC ADC1
+
+PA2 LED0 OUTPUT LOW
+
+# USART1
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (GPS)
+PB11 USART3_RX USART3
+PB10 USART3_TX USART3
+
+# UART4 (GPS2)
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+
+# USART6, RX only for RCIN
+PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
+PC6 USART6_TX USART6 NODMA LOW
+
+# UART7, RX only for ESC Telemetry
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7 NODMA LOW
+
+# Motors
+PB1  TIM1_CH3N TIM1 PWM(1) GPIO(50)
+PE9  TIM1_CH1 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PB0  TIM3_CH3 TIM3 PWM(4) GPIO(53)
+PC9  TIM3_CH4 TIM3 PWM(5) GPIO(54)
+PA3  TIM5_CH4 TIM5 PWM(6) GPIO(55)
+
+# extra PWM outs
+#PD12  TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin
+#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer)
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH
+
+# spi devices
+SPIDEV mpu6000  SPI4 DEVID1 ICM20689_CS MODE3  1*MHZ  4*MHZ
+SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
+SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_180
+
+# one BARO
+BARO BMP280 I2C:0:0x76
+
+# setup for OSD
+define OSD_ENABLED ENABLED
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+define BOARD_PWM_COUNT_DEFAULT 6
+define STM32_PWM_USE_ADVANCED TRUE
+