HAL_ChibiOS: added support for MatekF765-Wing

libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef-bl.dat

@@ -0,0 +1,52 @@
+# hw definition file for processing by chibios_pins.py
+# for Matek F765-Wing bootloader
+
+# MCU class and specific type
+MCU STM32F7xx STM32F767xx
+
+# board ID for firmware load
+APJ_BOARD_ID 143
+
+# 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 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 96
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+UART_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PD10 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+

libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat

@@ -0,0 +1,211 @@
+# hw definition file for processing by chibios_pins.py
+# for Matek F765-Wing
+
+# MCU class and specific type
+MCU STM32F7xx STM32F767xx
+
+# board ID for firmware load
+APJ_BOARD_ID 143
+
+# 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 2048
+
+# leave 2 sectors free
+FLASH_RESERVE_START_KB 96
+
+# board voltage
+STM32_VDD 330U
+
+STM32_ST_USE_TIMER 3
+define CH_CFG_ST_RESOLUTION 16
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART2 UART7 USART1 USART3 UART8 UART4
+
+# buzzer
+PB9 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 IMU1 (MPU6000)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PC4 IMU1_CS CS
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 for IMU2 (ICM20602)
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+PD7 IMU2_CS CS
+
+# SPI4
+PE11 SPARE_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PA4 BATT_VOLTAGE_SENS2 ADC1 SCALE(1) # analog pin4
+PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1) # analog pin15
+
+PC0 PRESSURE_SENS ADC1 SCALE(2)
+define HAL_DEFAULT_AIRSPEED_PIN 10
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_CURR_PIN 13
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+# analog RSSI
+PC1 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 11
+
+PD10 LED0 OUTPUT LOW GPIO(90) # blue
+PD11 LED1 OUTPUT LOW GPIO(91) # green
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# USART1 (telem2)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2 (GPS1)
+PD5 USART2_TX USART2 NODMA
+PD6 USART2_RX USART2 NODMA
+
+# USART3 (GPS2)
+PD9 USART3_RX USART3 NODMA
+PD8 USART3_TX USART3 NODMA
+
+# UART4 (disable if used for CAN)
+PD1 UART4_TX UART4 NODMA
+PD0 UART4_RX UART4 NODMA
+
+# UART5 (RX only, for ESC telem), disabled for now until we add uartH support
+# PB8 UART5_RX UART5 NODMA
+
+# USART6 (RC input)
+PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
+PC6 USART6_TX USART6 NODMA LOW
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9  UART7_RTS UART7
+
+# UART8 (spare)
+PE0 UART8_RX UART8 NODMA
+PE1 UART8_TX UART8 NODMA
+
+# CAN bus (disabled as used for UART4)
+#PD1 CAN1_TX CAN1
+#PD0 CAN1_RX CAN1
+
+# Motors
+PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
+PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
+PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
+PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
+PB0 TIM1_CH2N TIM1 PWM(5) GPIO(54)
+PB1 TIM1_CH3N TIM1 PWM(6) GPIO(55)
+PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
+PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
+PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
+PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
+PE5 TIM9_CH1 TIM9 PWM(11) GPIO(60) NODMA
+PE6 TIM9_CH2 TIM9 PWM(12) GPIO(61) NODMA
+
+# microSD support
+PC8 SDMMC_D0 SDMMC1
+PC9 SDMMC_D1 SDMMC1
+PC10 SDMMC_D2 SDMMC1
+PC11 SDMMC_D3 SDMMC1
+PC12 SDMMC_CK SDMMC1
+PD2 SDMMC_CMD SDMMC1
+
+# GPIOs
+PE4  PINIO1 OUTPUT GPIO(81) LOW
+PE15 PINIO2 OUTPUT GPIO(82) LOW
+
+# 2812 LED
+# PA8, TIM1_CH1
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# spi devices
+SPIDEV mpu6000  SPI1 DEVID1 IMU1_CS MODE3  1*MHZ  4*MHZ
+SPIDEV icm20602 SPI3 DEVID1 IMU2_CS MODE3  1*MHZ  4*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 1
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# two IMUs. We put icm20602 first as we can sample accel at 4kHz
+IMU Invensense SPI:icm20602 ROTATION_PITCH_180
+IMU Invensense SPI:mpu6000 ROTATION_ROLL_180
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# one BARO
+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 ENABLED
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+define BOARD_PWM_COUNT_DEFAULT 12
+