AP_HAL_ChibiOS: hwdef for bdshot variant of SkystarsH7HD

Correct bootloader storage location for SkystarsH7HD

libraries/AP_HAL_ChibiOS/hwdef/SkystarsH7HD-bdshot/README.md

@@ -0,0 +1,87 @@
+# Skystars H7 Flight Controller
+
+The Skystars H7 is a flight controller produced by [Skystars](http://www.skystars-rc.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI270 IMU x2
+ - BMP280 barometer
+ - AT7456E OSD
+ - 8 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 (RX, DMA-enabled)
+ - SERIAL2 -> UART2 (DMA-enabled)
+ - SERIAL3 -> UART3 (ESC Telem)
+ - SERIAL4 -> UART4 (GPS, DMA-enabled)
+ - SERIAL5 -> UART5 (VTX)
+ - SERIAL6 -> UART6 (DJI FPV, DMA-enabled)
+ - SERIAL7 -> UART7 (DMA-enabled)
+ - SERIAL8 -> UART8
+
+## RC Input
+
+RC input is configured on the R6 (UART6_RX) pin. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should 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 5-8  in group3
+ - PWM 9    in group4
+
+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. Outputs 1-8 support bi-directional 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-bdshot/defaults.parm

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+# setup for Neopixel
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257
+NTF_LED_LEN 1
+# Default VTX power to on
+RELAY_DEFAULT 1
+SERIAL3_PROTOCOL 16
+RSSI_TYPE 3

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

@@ -0,0 +1,4 @@
+# hw definition file for processing by chibios_pins.py
+# for SkystarsH7HD bootloader
+
+include ../SkystarsH7HD/hwdef-bl.dat

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

@@ -0,0 +1,44 @@
+# hw definition file for processing by chibios_pins.py
+# for SkystarsH7HD
+
+include ../SkystarsH7HD/hwdef.dat
+
+undef PB0 PB1 PD12 PA0 PA2 PC7 PC6 PD8 PD9 PB5 PB6 PE0 PE1
+undef HAL_I2C_INTERNAL_MASK DMA_PRIORITY DMA_NOSHARE
+
+MCU_CLOCKRATE_MHZ 480
+
+DMA_PRIORITY TIM3* TIM4* TIM2* SPI1* SPI3* SPI4* TIM1*
+DMA_NOSHARE TIM3* TIM4* TIM2* SPI1* SPI3*
+
+define HAL_I2C_INTERNAL_MASK 2
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+
+define RELAY2_PIN_DEFAULT 81 # Pit-1
+define RELAY3_PIN_DEFAULT 82 # PIN-EN
+define RELAY4_PIN_DEFAULT 83 # CAM-C
+
+# Motor order Betaflight/X
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# USART1 (RX)
+# USART3 (ESC Telem)
+PD8 USART3_TX USART3 NODMA
+PD9 USART3_RX USART3 NODMA
+# UART4 (GPS)
+# UART5 (VTX)
+PB5 UART5_RX UART5 NODMA
+PB6 UART5_TX UART5 NODMA
+# USART6 (DJI FPV)
+# UART7
+# UART8
+PE0 UART8_RX UART8 NODMA
+PE1 UART8_TX UART8 NODMA
+
+# Motors
+PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
+PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51)
+PD12 TIM4_CH1 TIM4 PWM(3) GPIO(52) BIDIR
+PA0  TIM2_CH1 TIM2 PWM(5) GPIO(54) BIDIR
+PA2  TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR

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

@@ -21,6 +21,11 @@ FLASH_BOOTLOADER_LOAD_KB 128
 # order of UARTs (and USB)
 SERIAL_ORDER OTG1
 
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
 # PA10 IO-debug-console
 PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1