AP_HAL_ChibiOS: spro H7 extreme updates.

cannot currently use both IMUs on spro H7 extreme due to CPU load

libraries/AP_HAL_ChibiOS/QSPIDevice.cpp

@@ -27,7 +27,6 @@
 #include "Util.h"
 #include "Scheduler.h"
 #include <stdio.h>
-#include "hwdef/common/stm32_util.h"
 
 #if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)
 

libraries/AP_HAL_ChibiOS/QSPIDevice.h

@@ -29,6 +29,7 @@
 #if !defined(HAL_BOOTLOADER_BUILD)
 #include "Semaphores.h"
 #endif
+#include "hwdef/common/stm32_util.h"
 
 #include "Scheduler.h"
 #include "Device.h"

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/defaults.parm

@@ -5,3 +5,6 @@ NTF_LED_TYPES 257
 # setup SERIAL2 for RCIN
 SERIAL2_BAUD 115
 SERIAL2_OPTIONS 8
+
+# currently using both IMUs is too CPU intensive
+INS_ENABLE_MASK 1

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef-bl.dat

@@ -35,7 +35,7 @@ PA12 OTG_FS_DP OTG1
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-PE3 LED_BOOTLOADER OUTPUT LOW # Blue LED
+PE3 LED_BOOTLOADER OUTPUT LOW # Red LED
 define HAL_LED_ON 0
 
 # QuadSPI Flash
@@ -57,3 +57,6 @@ DEFAULTGPIO OUTPUT LOW PULLDOWN
 PB12 ICM20602_2_CS CS
 PA15 ICM20602_1_CS CS
 PE11 AT7456E_CS CS
+
+## pull up VTX power
+PB01 VTX_PWR OUTPUT HIGH GPIO(81)

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat

@@ -66,28 +66,33 @@ PE14 SPI4_MOSI SPI4
 PB8 I2C1_SCL I2C1 PULLUP
 PB9 I2C1_SDA I2C1 PULLUP
 
+# Internal current sensor
 PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
 PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
+# External current sensor
+PC5 BATT_CURRENT_SENS2 ADC1 SCALE(1)    # analog pin 8
+
+# VTX Power control - should be high at startup to ensure power
+PB01 VTX_PWR OUTPUT HIGH GPIO(81)
+define RELAY2_PIN_DEFAULT 81
 
 PC4 RSSI_IN ADC1
 define BOARD_RSSI_ANA_PIN 0
 
 # define default battery setup
-define HAL_BATT_VOLT_PIN 13
-define HAL_BATT_CURR_PIN 12
+define HAL_BATT_VOLT_PIN 11
+define HAL_BATT_CURR_PIN 10
 define HAL_BATT_VOLT_SCALE 10.9
 define HAL_BATT_CURR_SCALE 28.5
 define HAL_BATT_MONITOR_DEFAULT 4
 
-PC5 RSSI_ADC ADC1
-
-# USART1
+# USART1 (RCIN)
 PB15 USART1_RX USART1
 PB14 USART1_TX USART1
+define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
 
-# USART2 (RCIN)
+# USART2 (SmartPort)
 PD5 USART2_TX USART2
-define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
 
 # USART3
 PD9 USART3_RX USART3
@@ -148,7 +153,8 @@ PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)         # M10
 
 # NeoPixel LED strip
 PA8 TIM1_CH1 TIM1 PWM(11) GPIO(60)
-PE3 LED0 OUTPUT LOW GPIO(90) # Blue LED
+ # Red LED
+PE3 LED0 OUTPUT LOW GPIO(90)
 
 # spi devices
 SPIDEV icm20602_1 SPI3 DEVID1 ICM20602_1_CS MODE3  2*MHZ  10*MHZ
@@ -160,6 +166,7 @@ DMA_PRIORITY SPI3* SPI2* TIM5*
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
 define ALLOW_ARM_NO_COMPASS
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
 
 # two IMUs
 IMU Invensense SPI:icm20602_1 ROTATION_YAW_90