HAL_ChibiOS: setup more bootloader config files

libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h

@@ -34,6 +34,9 @@ void *malloc_ccm(size_t size);
 void *malloc_dtcm(size_t size);
 void *malloc_dma(size_t size);
 
+// flush all dcache
+void memory_flush_all(void);
+    
 // UTC system clock handling    
 void stm32_set_utc_usec(uint64_t time_utc_usec);
 uint64_t stm32_get_utc_usec(void);

libraries/AP_HAL_ChibiOS/hwdef/cube-orange/hwdef.dat

@@ -440,8 +440,8 @@ define HAL_I2C_MAX_CLOCK 100000
 DMA_NOSHARE USART6_TX USART6_RX ADC1
 DMA_PRIORITY USART6*
 
-# run without a bootloader for now, use DFU upload
-FLASH_RESERVE_START_KB 0
+# start on 2nd sector (1st sector for bootloader)
+FLASH_RESERVE_START_KB 32
 
 # list of files to put in ROMFS. For fmuv3 we need an IO firmware so
 # we can automatically update the IOMCU firmware on boot. The format

libraries/AP_HAL_ChibiOS/hwdef/f405-bl/hwdef.dat

@@ -13,14 +13,14 @@ STM32_PLLM_VALUE 8
 
 FLASH_SIZE_KB 1024
 
-USB_STRING_PRODUCT "f745-BL"
+USB_STRING_PRODUCT "f405-BL"
 
 # bootloader is installed at zero offset
 FLASH_RESERVE_START_KB 0
 
 # LEDs
-PB9 LED_BOOTLOADER OUTPUT LOW GPIO(0)
-PA14 LED_ACTIVITY  OUTPUT LOW GPIO(1)
+PB9 LED_BOOTLOADER OUTPUT LOW
+PA14 LED_ACTIVITY  OUTPUT LOW
 define HAL_LED_ON 0
 
 # the location where the bootloader will put the firmware

libraries/AP_HAL_ChibiOS/hwdef/f745-bl/hwdef.dat

@@ -0,0 +1,50 @@
+# hw definition file for processing by chibios_pins.py
+# for f745 bootloader
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 254
+
+# 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
+
+USB_STRING_PRODUCT "f745-BL"
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+define FLASH_BOOTLOADER_LOAD_KB 96
+
+# board voltage
+STM32_VDD 330U
+
+UART_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PA2 LED_BOOTLOADER OUTPUT HIGH
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1

libraries/AP_HAL_ChibiOS/hwdef/f765-bl/hwdef.dat

@@ -0,0 +1,46 @@
+# hw definition file for processing by chibios_hwdef.py
+# for F765 bootloader
+
+# MCU class and specific type
+MCU STM32F7xx STM32F767xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define STM32_LSECLK 32768U
+define STM32_LSEDRV (3U << 3U)
+define STM32_PLLSRC STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 8
+define STM32_PLLN_VALUE 216
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+# board ID for firmware load
+APJ_BOARD_ID 50
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+define FLASH_BOOTLOADER_LOAD_KB 32
+
+PC6 LED_BOOTLOADER OUTPUT HIGH
+PC7 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+UART_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384

libraries/AP_HAL_ChibiOS/hwdef/f777-bl/hwdef.dat

@@ -0,0 +1,51 @@
+# hwdef for bootloader for cube-orange
+
+# MCU class and specific type
+MCU STM32F7xx STM32F777xx
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+define STM32_LSECLK 32768U
+define STM32_LSEDRV (3U << 3U)
+define STM32_PLLSRC STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 24
+define STM32_PLLN_VALUE 432
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+# board ID for firmware load
+APJ_BOARD_ID 78
+
+# board voltage
+STM32_VDD 330U
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY ProfiCNC / HEX! NOBODY ELSE
+USB_PRODUCT 0x1001
+USB_STRING_MANUFACTURER "Hex Technology Limited"
+USB_STRING_PRODUCT "ProfiCNC CUBE Orange BL"
+USB_STRING_SERIAL  "%SERIAL%"
+
+# order of UARTs (and USB)
+UART_ORDER OTG1
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# no reserved flash for bootloader
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+define FLASH_BOOTLOADER_LOAD_KB 32
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -425,6 +425,9 @@ def write_mcu_config(f):
     f.write('\n// CPU serial number (12 bytes)\n')
     f.write('#define UDID_START 0x%08x\n\n' % get_mcu_config('UDID_START', True))
 
+    f.write('\n// APJ board ID (for bootloaders)\n')
+    f.write('#define APJ_BOARD_ID %s\n' % get_config('APJ_BOARD_ID'))
+
     lib = get_mcu_lib(mcu_type)
     build_info = lib.build
     # setup build variables