AP_HAL_ChibiOS: added MFT-SEMA100

libraries/AP_HAL_ChibiOS/hwdef/MFT-SEMA100/README.md

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+# MFT-SEMA100 Flight Controller
+
+The MFT-SEMA100 is a flight controller designed and produced by MFT Savunma ve Havacılık LTD. ŞTİ.
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI088 IMU
+ - BMP390 barometer
+ - LIB3MDL magnetometer
+ - MicroSD Card Slot
+ - 5 UARTs
+ - 12 PWM outputs
+ - 2 CANs
+ - 2 I2Cs
+
+## Physical
+
+![MFT-SEMA100_Top_View](MFT-SEMA100_TopView.jpeg)
+
+![MFT-SEMA100_Bottom_View](MFT-SEMA100_BottomView.jpeg)
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
+ - SERIAL2 -> UART2 (MAVLink2, DMA-enabled)
+ - SERIAL3 -> UART3 (GPS, DMA-enabled)
+ - SERIAL4 -> UART5 (GPS2, DMA-enabled)
+ - SERIAL5 -> UART7 (DMA-enabled)
+ - SERIAL6 -> UART8 (RX only)
+
+## Connectors
+
+All pins are 2.54 mm Pin Headers 
+
+## Power Connector
+
+XT30-PW 5V Input for powering the board
+
+## RC Input
+
+The default RC input is configured on the UART8 RCIN pin.
+
+
+## PWM Output
+
+The MFT-SEMA100 supports up to 12 PWM outputs.
+
+PWM outputs are grouped and every group must use the same output protocol:
+
+1, 2 are Group 1;
+
+3, 4 are Group 2;
+
+5, 6, 7, 8 are Group 3;
+
+9, 10 are Group 4;
+
+11, 12 are Group 5;
+
+Channels within the same group need to use the same output rate. 
+
+## GPIOs
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+PWM1 50
+PWM2 51
+PWM3 52
+PWM4 53
+PWM5 54
+PWM6 55
+PWM7 56
+PWM8 57
+
+PWM9 58
+PWM10 59
+PWM11 60
+PWM12 61
+
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 19
+ - BATT_CURR_PIN 8
+ - BATT_VOLT_MULT 10
+ - BATT_CURR_SCALE 10
+
+## Compass
+
+The MFT-SEMA100 has a built-in compass sensor (LIB3MDL), and you can also attach an external compass using I2C on the SDA and SCL connector.
+
+## IMU Heater
+
+The IMU heater in the MFT-SEMA100 can be controlled with the BRD_HEAT_TARG parameter, which is in degrees C.
+
+## Mechanical
+
+ - Mounting: 55 x 56 mm, Φ4 mm
+ - Dimensions: 64 x 65 x 10 mm
+ - Weight: 15g
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.

libraries/AP_HAL_ChibiOS/hwdef/MFT-SEMA100/defaults.parm

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+# setup the temperature compensation
+BRD_HEAT_TARG 45
+BRD_HEAT_P 50
+BRD_HEAT_I 0.07

libraries/AP_HAL_ChibiOS/hwdef/MFT-SEMA100/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for MFT-SEMA100 board
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 2000
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed 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
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+
+
+PC13 LED_BOOTLOADER OUTPUT HIGH GPIO(0)
+PC6 LED_ACTIVITY OUTPUT HIGH GPIO(1) # optional
+
+
+define HAL_LED_ON 1
+
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PB3 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC4 SDCARD_DETECT INPUT
+
+# Add CS pins to ensure they are high in bootloader
+PE3  BMI088_A_CS CS
+PE4  BMI088_G_CS CS
+PA15 SDCARD_CS CS

libraries/AP_HAL_ChibiOS/hwdef/MFT-SEMA100/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py for MFT-SEMA100
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 2000
+
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+USB__STRING_MANUFACTURER "MFT"
+USB_STRING_PRODUCT "MFT-SEMA100"
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART5 UART7 UART8 OTG2
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# Port switching for USB HS and FS,high = USB_FS , LOW = USB_HS
+PH15 USB_HS_ENABLE OUTPUT HIGH
+define USB_HW_ENABLE_HS 0
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 - SD CARD
+PB3 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PA15 SDCARD_CS CS
+PC4 SDCARD_DETECT INPUT
+
+# SPI2 - External 
+PD3 SPI2_SCK SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+
+
+# SPI4 - GYRO
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# sensor
+PE3  BMI088_A_CS CS
+PE4  BMI088_G_CS CS
+
+
+# I2C buses
+
+
+#I2C1 is External
+PB8 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2 for onboard mag
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# I2C3 for onboard BAROMETER
+PA8 I2C3_SCL I2C3
+PC9 I2C3_SDA I2C3
+
+# I2C4 is External
+PD12 I2C4_SCL I2C4
+PD13 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C2 I2C3 I2C4 I2C1
+
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# drdy pins
+PE11  DRDY1_LIS3MDL INPUT
+
+
+# UARTs
+#USART1 TX RX 1
+PA10 USART1_RX USART1 
+PA9 USART1_TX USART1 
+
+# USART2 is TX RX 2
+PD6 USART2_RX USART2 
+PD5 USART2_TX USART2 
+
+# USART3 is TX RX 3
+PD9 USART3_RX USART3 NODMA
+PD8 USART3_TX USART3 NODMA
+
+# UART5 is TX RX 4
+PD2 UART5_RX UART5 NODMA
+PC12 UART5_TX UART5 NODMA
+
+# UART7 is TX RX 5
+PE7 UART7_RX UART7 
+PE8 UART7_TX UART7 
+PE10 UART7_CTS UART7
+PE9 UART7_RTS UART7
+
+
+# SBUS, DSM port
+PE0 UART8_RX UART8 
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+
+
+
+# PWM AUX channels
+PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50) 
+PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51) 
+PC7 TIM8_CH2 TIM8 PWM(3) GPIO(52) 
+PC8 TIM8_CH3 TIM8 PWM(4) GPIO(53) 
+PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) 
+PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55) 
+PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56) 
+PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57) 
+
+PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) 
+PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59) 
+PA6 TIM3_CH1  TIM3  PWM(11) GPIO(60) 
+PA7 TIM3_CH2  TIM3  PWM(12) GPIO(61) 
+
+
+# allow for 14 PWMs by default
+
+# PWM output for buzzer
+PB15 TIM12_CH2 TIM12 GPIO(77) ALARM
+
+
+# analog in
+PA5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC5 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 19
+define HAL_BATT_VOLT_SCALE 10
+
+#define HAL_BATT2_VOLT_PIN 15 
+#define HAL_BATT2_VOLT_SCALE 9
+
+define HAL_BATT_CURR_PIN 8
+define HAL_BATT_CURR_SCALE 10
+
+
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# 2nd CAN bus
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+
+# control for silent (no output) for CAN
+PD4 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+PD11 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+
+# GPIOs
+
+PD10 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+
+
+#BARO
+BARO BMP388 I2C:1:0x77
+
+# SPI devices
+SPIDEV bmi088_a       SPI4 DEVID1  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV bmi088_g       SPI4 DEVID2  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV sdcard         SPI1 DEVID1  SDCARD_CS       MODE0  400*KHZ 25*MHZ
+
+
+# IMU
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS LIS3MDL I2C:ALL_INTERNAL:0x1C false ROTATION_NONE
+
+
+#LEDs
+PC13 LED_BOOTLOADER OUTPUT HIGH GPIO(0)
+PC6 LED_ACTIVITY OUTPUT LOW GPIO(1) # optional
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+
+#STORAGE 
+STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+DMA_PRIORITY ADC* SPI4* TIM*UP*
+DMA_NOSHARE  SPI4* TIM*UP*
+
+define DEFAULT_NTF_LED_TYPES 743