AP_HAL_ChibiOS: Add hwdef files for AET-H743-Basic

libraries/AP_HAL_ChibiOS/hwdef/AET-H743-Basic/README.md

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+# AET-H743-Basic Flight Controller
+
+The AET-H743-Basic is a flight controller designed and produced by AeroEggTech
+
+## Features
+
+ - STM32H743 microcontroller
+ - Dual ICM42688P IMUs
+ - 13 PWM / Dshot outputs
+ - 8 UARTs, one with CTS/RTS flow control pins
+ - 1 CAN
+ - Dedicated USB board
+ - DPS310 or SPL06 barometer
+ - 5V/6V/7V 10A Servo rail BEC
+ - 9V 2A BEC for VTX, GPIO controlled
+ - 5V 4A BEC
+ - MicroSD Card Slot
+ - 2-way camera input
+ - AT7456E OSD
+ - 2 I2Cs
+
+## Physical
+
+![AET-H743-Basic overview](AET-H743-Basic_overview.jpg)
+
+![AET-H743-Basic core board](AET-H743-Basic_core_board.png)
+
+![AET-H743-Basic power board](AET-H743-Basic_power_board.png)
+
+
+## Mechanical
+
+ - Dimensions: 36 x 47 x 17 mm
+ - Weight: 45g
+
+
+## Power supply
+
+The AET-H743-Basic supports 2-6s Li battery input. It has 3 ways of BEC, which result in 6 ways of power supplys. Please see the table below.
+
+| Power symbol | Power source | Max power (current) |
+|--------------|--------------|---------------------|
+| 5V | from 5V BEC | 20W (4A) |
+| 9V | from 9V BEC | 18W (2A) |
+| 9Vsw | from 9V BEC, controlled by MCU with an NPN MOS | 10W (1A) |
+| 4V5 | from USB or 5V BEC, with a diode | 5W (1A) |
+| VX | from Servo rail VX BEC, default 5V, can be changed to 6V or 7V | 50W (10A) |
+| BAT | directly from battery | (5A) |
+
+
+## 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 favorite DFU loading tool, such as Mission Planner.
+
+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.
+
+## UART Mapping
+
+All UARTs are DMA capable.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (MAVLink2)
+ - SERIAL2 -> UART2 (GPS)
+ - SERIAL3 -> UART3 (MAVLink2)
+ - SERIAL4 -> UART4 (GPS2, RX4 is also available as ESC telem if protocol is changed for this UART)
+ - SERIAL5 -> USB (SLCAN)
+ - SERIAL6 -> UART6 (RCIN)
+ - SERIAL7 -> UART7 (MAVLink2, Integrated Bluetooth module)
+ - SERIAL8 -> UART8 (User)
+
+
+## RC Input
+
+The default RC input is configured on the UART6 and supports all RC protocols except PPM. The SBUS pin is inverted and connected to RX6. RC can be attached to any UART port as long as the serial port protocol is set to `SERIALn_PROTOCOL=23` and SERIAL6_Protocol is changed to something other than '23'.
+
+
+## OSD Support
+
+The AET-H743-Basic supports onboard analog SD OSD using a AT7456 chip. The analog VTX should connect to the VTX pin.
+
+
+## PWM Output
+
+The AET-H743-Basic supports up to 13 PWM outputs.
+
+All the channels support DShot.
+
+Outputs are grouped and every output within a group must use the same output protocol:
+
+1, 2 are Group 1;
+
+3, 4, 5, 6 are Group 2;
+
+7, 8, 9, 10 are Group 3;
+
+11, 12 are Group 4;
+
+13(LED) is Group 5;
+
+Output 13 can be used as LED neopixel output;
+
+## Battery Monitoring
+
+The board has two internal voltage sensors and one integrated current sensor, and a second external current sensor input.
+
+The voltage sensors can handle up to 6S LiPo batteries.
+
+The first voltage/current sensor is enabled by default and the pin inputs for the second, unenabled sensor are also set by default:
+* BATT_MONITOR 4
+* BATT_VOLT_PIN 10
+* BATT_CURR_PIN 11
+* BATT_VOLT_MULT 11
+* BATT_CURR_SCALE 40
+* BATT2_VOLT_PIN 18
+* BATT2_CURR_PIN 7
+* BATT2_VOLT_MULT 11
+
+## Compass
+
+The AET-H743-Basic has no built-in compass, so if needed, you should use an external compass.
+
+## Analog cameras
+
+The AET-H743-Basic supports up to 2 cameras, connected to pin CAM1 and CAM2. You can select the video signal to VTX from camera by an RC channel. Set the parameters below:
+
+- RELAY2_FUNCTION = 1
+- RELAY_PIN2 = 82
+- RC8_OPTION = 34
+
+## 9V switch
+
+The 9Vsw power supply can be controlled by an RC channel. Set the parameters below:
+
+- RELAY1_FUNCTION = 1
+- RELAY_PIN = 81
+- RC7_OPTION = 28
+
+## Bluetooth
+
+The AET-H743-Basic support both legacy bluetooth SPP and BLE serial. The bluetooth uses UART7 as serial port. Search for `AET-H743-SPP` or `AET-H743-BLE` to connect.
+
+Note: you should connect a battery to the board so the bluetooth module can work.

libraries/AP_HAL_ChibiOS/hwdef/AET-H743-Basic/defaults.parm

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+# setup for LEDs on chan13
+SERVO13_FUNCTION 120
+NTF_LED_TYPES 257

libraries/AP_HAL_ChibiOS/hwdef/AET-H743-Basic/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for AET H743-Basic bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AET-H743-Basic
+
+# 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
+# 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
+
+# PA10 IO-debug-console
+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
+PD10  PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PE11 IMU2_CS CS
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+PC13 IMU3_CS CS

libraries/AP_HAL_ChibiOS/hwdef/AET-H743-Basic/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for AET H743-Basic
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AET-H743-Basic
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+env OPTIMIZE -Os
+
+USB_STRING_MANUFACTURER "AET"
+
+# 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
+
+# SPI1 for IMU1 (ICM-42688)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC15 IMU1_CS CS
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI4 for IMU3 (ICM-42688)
+PC13 IMU3_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_VOLT_PIN 18
+define HAL_BATT2_CURR_PIN 7
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_CURR_SCALE 40.0
+define HAL_BATT2_VOLT_SCALE 11.0
+
+PC4 PRESSURE_SENS ADC1 SCALE(2)
+define HAL_DEFAULT_AIRSPEED_PIN 4
+
+PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 8
+
+# LED
+# green LED1 marked as B/E
+# blue LED0 marked as ACT
+PE3 LED0 OUTPUT LOW GPIO(90) # blue
+PE4 LED1 OUTPUT LOW GPIO(91) # green
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+
+define HAL_GPIO_LED_ON 1
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 OTG2 USART6 UART7 UART8
+
+# USART1
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART4
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+
+# USART6
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+# UART7
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9  UART7_RTS UART7
+
+# UART8
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# Serial functions
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_GPS
+define DEFAULT_SERIAL3_BAUD 115
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL7_BAUD 115
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# Motors
+PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
+PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
+PA3  TIM5_CH4  TIM5  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  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
+
+# Beeper
+PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# GPIOs
+PD10  PINIO1 OUTPUT GPIO(81) LOW
+PD11  PINIO2 OUTPUT GPIO(82) LOW
+
+DMA_PRIORITY S*
+
+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 icm42688_0  SPI1 DEVID1 IMU1_CS      MODE3  2*MHZ 16*MHZ   # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
+SPIDEV icm42688_1  SPI4 DEVID1 IMU3_CS      MODE3  2*MHZ 16*MHZ
+SPIDEV osd         SPI2 DEVID4 MAX7456_CS   MODE0 10*MHZ 10*MHZ
+
+
+DMA_NOSHARE SPI1* SPI4*
+
+# 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
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# two IMUs
+# ICM42688P, ICM42688P
+IMU Invensensev3 SPI:icm42688_0 ROTATION_YAW_180
+IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_270
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# BAROs
+BARO SPL06  I2C:0:0x76
+BARO DPS310 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin