AP_HAL_ChibiOS : add SULILGH7 board

libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/README.md

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+# SULILGH7P1/P2 Flight Controller
+
+# This firmware is compatible with SULILGH7-P1 and SULILGH7-P2.
+
+This is the open-source hardware I have released, and you can find more details at the following link: https://oshwhub.com/shuyedeye/p1-flight-control. 
+
+
+<img src="P1.jpg" alt="" width="400">
+
+## Features:
+- Separate flight control core design.
+- MCU
+   STM32H743IIK6 32-bit processor running at 480MHz
+   2MB Flash
+   1MB RAM
+- IO MCU
+   STM32F103
+- Sensors
+- IMU:
+   P2:Internal Vibration Isolation for IMUs
+   P2:IMU constant temperature heating(1 W heating power).
+   With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
+   IMU1-BMI088(With vibration isolation)
+   IMU2-ICM42688-P(With vibration isolation)
+   IMU3-ICM20689(No vibration isolation)
+- Baro:
+   Two barometers:Baro1-BMP581 , Baro2-ICP20100
+  Magnetometer:   Builtin IST8310 magnetometer
+
+
+## UART Mapping
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+| Name    | Function | MCU PINS |   DMA   |
+| :-----: | :------: | :------: | :------:|
+| SERIAL0 | OTG1     | USB      |
+| SERIAL1 | Telem1   | USART2   |DMA Enabled |
+| SERIAL2 | Telem2   | USART3   |DMA Enabled |
+| SERIAL3 | GPS1     | USART1   |DMA Enabled |
+| SERIAL4 | GPS2     | UART4    |DMA Enabled |
+| SERIAL5 | RC       | UART8    |DMA Enabled |
+| SERIAL7 |FMU DEBUG | UART7    |DMA Enabled |
+| SERIAL8 | OTG-SLCAN| USB      |
+
+## RC Input
+The RCIN pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry.
+
+To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL5 (UART8) would need to be used for receiver connections. Below are setups using Serial5.
+
+* :ref:`SERIAL5_PROTOCOL<SERIAL5_PROTOCOL>`  should be set to “23”.
+* CRSF would require  :ref:`SERIAL5_OPTIONS<SERIAL5_OPTIONS>`  set to “0”.
+* SRXL2 would require :ref:`SERIAL5_OPTIONS<SERIAL5_OPTIONS>` set to “4”. And only connect the TX pin.
+
+* The SBUS_IN pin is internally tied to the RCIN pin.
+
+Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See :ref:`Radio Control Systems <common-rc-systems>` for details.
+
+## PWM Output
+The SULILLGH7-P1/P2 flight controller supports up to 16 PWM outputs.
+First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.
+The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller.
+All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.
+
+The 8 IO PWM outputs are in 4 groups:
+- Outputs 1 and 2 in group1
+- Outputs 3 and 4 in group2
+- Outputs 5, 6, 7 and 8 in group3
+
+The 8 FMU PWM outputs are in 4 groups:
+- Outputs 1, 2, 3 and 4 in group1
+- Outputs 5 and 6 in group2
+- Outputs 7 and 8 in group3
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+## GPIO
+All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+<table>
+  <tr>
+    <th colspan="3">IO Pins</th>
+    <th colspan="1"> </th>
+    <th colspan="3">FMU Pins</th>
+  </tr>
+  <tr><td> Name </td><td> Value </td><td> Option </td><td>  </td><td> Name </td><td> Value </td><td> Option </td></tr>
+  <tr><td> M1 </td><td> 101 </td> <td> MainOut1 </td><td>  </td><td> M9 </td><td> 50 </td><td> AuxOut1 </td></tr>
+  <tr><td> M2 </td><td> 102 </td> <td> MainOut2 </td><td>  </td><td> M10 </td><td> 51 </td><td> AuxOut2 </td></tr>
+  <tr><td> M3 </td><td> 103 </td> <td> MainOut3 </td><td>  </td><td> M11 </td><td> 52 </td><td> AuxOut3 </td></tr>
+  <tr><td> M4 </td><td> 104 </td> <td> MainOut4 </td><td>  </td><td> M12 </td><td> 53 </td><td> AuxOut4 </td></tr>
+  <tr><td> M5 </td><td> 105 </td> <td> MainOut5 </td><td>  </td><td> M13 </td><td> 54 </td><td> AuxOut5 </td></tr>
+  <tr><td> M6 </td><td> 106 </td> <td> MainOut6 </td><td>  </td><td> M14 </td><td> 55 </td><td> AuxOut6 </td></tr>
+  <tr><td> M7 </td><td> 107 </td> <td> MainOut7 </td><td>  </td><td> M15 </td><td> 56 </td><td>  </td></tr>
+  <tr><td> M8 </td><td> 108 </td> <td> MainOut8 </td><td>  </td><td> M16 </td><td> 57 </td><td>  </td></tr>
+</table>
+
+## Battery Monitoring
+Two DroneCAN power monitor interfaces have been configured
+These are set by default in the firmware and shouldn't need to be adjusted.
+
+## Compass
+The P1/P2 flight controllers have an integrated IST8310 high-precision magnetometer.
+
+## Analog inputs
+The P1/P2 flight controller has 2 analog inputs.
+- ADC Pin12 -> ADC 6.6V Sense
+- ADC Pin13 -> ADC 3.3V Sense
+- RSSI input pin = 103
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.
+
+Firmware for these boards can be found [here](https://firmware.ardupilot.org/) in sub-folders labeled “SULIGH7-P1-P2”.

libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/defaults.parm

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+CAN_P1_DRIVER 1
+CAN_P2_DRIVER 1
+
+BATT_MONITOR 8		
+GPS1_TYPE 9			

libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the SULILGH7_P1 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_SULILGH7-P1-P2
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+MCU_CLOCKRATE_MHZ 480
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART2 USART3
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PI9 ICM20689_CS CS
+PH5 BMP_581_CS CS
+PI4 BMI088_A_CS CS
+PI8 BMI088_G_CS CS
+PH15 ICM_42688_CS CS
+PG7  FRAM_CS CS
+PC2   EXT1_CS CS
+PC3   EXT2_CS CS
+
+# DEBUG
+PE8 UART7_TX UART7
+PE7 UART7_RX UART7
+
+# telem1
+PD5 USART2_TX USART2
+PA3 USART2_RX USART2
+PD4 USART2_RTS USART2
+PD3 USART2_CTS USART2
+
+# telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD12 USART3_RTS USART3
+PD11 USART3_CTS USART3
+
+# LEDs
+PE3 LED_RED OUTPUT OPENDRAIN HIGH # red
+PE4 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green
+
+define HAL_STORAGE_SIZE 16384
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
+
+# support flashing from SD card:
+# power enable pins
+PG3  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+PG6  VDD_3V3_IMU_EN OUTPUT HIGH
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1
+
+# microSD support
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define BOOTLOADER_DEBUG SD7
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1

libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the SULILGH7_P1 hardware
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# board ID for firmware load
+APJ_BOARD_ID  AP_HW_SULILGH7-P1-P2
+
+FLASH_RESERVE_START_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# to be compatible with the px4 bootloader we need
+# to use a different RAM_MAP
+env USE_ALT_RAM_MAP 1
+
+MCU_CLOCKRATE_MHZ 480
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 UART8 UART7 OTG2
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# telem1
+PD5 USART2_TX USART2
+PA3 USART2_RX USART2
+PD4 USART2_RTS USART2
+PD3 USART2_CTS USART2
+
+# telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD12 USART3_RTS USART3
+PD11 USART3_CTS USART3
+
+# GPS1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# GPS2
+PH13 UART4_TX UART4
+PH14 UART4_RX UART4
+
+# USART6 is for IOMCU
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+IOMCU_UART USART6
+
+# DEBUG
+PE8 UART7_TX UART7
+PE7 UART7_RX UART7
+
+# SBUS/CRSF
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
+
+# Ethernet
+PC1 ETH_MDC              ETH1
+PA2 ETH_MDIO             ETH1
+PC4 ETH_RMII_RXD0        ETH1
+PC5 ETH_RMII_RXD1        ETH1
+PG13 ETH_RMII_TXD0       ETH1
+PG12 ETH_RMII_TXD1       ETH1
+PB11 ETH_RMII_TX_EN      ETH1
+PA7 ETH_RMII_CRS_DV      ETH1
+PA1 ETH_RMII_REF_CLK     ETH1
+
+define BOARD_PHY_ID  MII_LAN8742A_ID
+define BOARD_PHY_RMII
+
+# ADC
+PA0 SCALED1_V3V3 ADC1 SCALE(2)
+PA4 SCALED2_V3V3 ADC1 SCALE(2)
+PB0 SCALED3_V3V3 ADC1 SCALE(2)
+PC0 SCALED4_V3V3 ADC1 SCALE(2)
+PB1 VDD_5V_SENS  ADC1 SCALE(2.02)
+
+PF13 ADC1_6V6 ADC2 SCALE(2)
+PF12 ADC1_3V3 ADC1 SCALE(1)
+
+# SPI1 - IMU3 ICM20689
+PA5 SPI1_SCK SPI1
+PB5 SPI1_MOSI SPI1
+PG9 SPI1_MISO SPI1
+PI9 ICM20689_CS CS
+
+# SPI2 -BARO1 BMP581
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+PH5 BMP_581_CS CS
+PA10 DRDY6_BMP581 INPUT
+
+# SPI3 -IMU1 BMI088
+PB2  SPI3_MOSI SPI3
+PC10 SPI3_SCK  SPI3
+PC11 SPI3_MISO SPI3
+PI4 BMI088_A_CS CS
+PI8 BMI088_G_CS CS
+DRDY1_BMI088_ACC1 INPUT
+DRDY2_BMI088_ACC2 INPUT
+DRDY3_BMI088_GYRO1 INPUT
+DRDY4_BMI088_GYRO2 INPUT
+
+# SPI4 - IMU2
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+PH15 ICM_42688_CS CS
+PF3  DRDY5_ICM_42688 INPUT
+
+# SPI5 - FRAM
+PF7  SPI5_SCK  SPI5
+PH7  SPI5_MISO SPI5
+PF11 SPI5_MOSI SPI5
+PG7  FRAM_CS CS
+
+# SPI6 - external1
+PB3  SPI6_SCK SPI6
+PA6  SPI6_MISO SPI6
+PG14 SPI6_MOSI SPI6
+PC2   EXT1_CS CS
+PC3   EXT2_CS CS
+
+# PWM output pins
+PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50)    BIDIR
+PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
+PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)    BIDIR
+PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+PH6  TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
+PH9  TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
+
+# PWM output for buzzer
+PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# control for silent (no output) for CAN
+PC12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+PG2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+
+# I2C buses
+
+# I2C1, GPS+MAG
+PB9 I2C1_SDA I2C1
+PB8 I2C1_SCL I2C1
+
+# I2C2, GPS2+MAG
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C3
+PA8 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4 (ICP20100)
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C4 I2C1 I2C2
+define HAL_I2C_INTERNAL_MASK 0
+
+# power enable pins
+PG3  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+PG6  VDD_3V3_IMU_EN OUTPUT HIGH
+PE6  VDD_3V3_IMU2_EN OUTPUT HIGH
+PD15  VDD_I2C_BATT1_EN OUTPUT HIGH
+PF10  VDD_I2C_CAN_EN OUTPUT HIGH
+
+# start peripheral power on
+PE2  HIPOWER_EN OUTPUT HIGH
+PD2  PERIPH_EN  OUTPUT HIGH
+
+# power sensing
+PA15 PERIPH_OC INPUT PULLUP
+PE10 HIPOWER_OC INPUT PULLUP
+
+#Not in use, but reserved
+PB10 VDD_BRICKA_nVALID INPUT PULLUP
+PE15 VDD_BRICKB_nVALID INPUT PULLUP
+PE11 VDD_BRICKC_nVALID INPUT PULLUP
+
+# microSD support
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+# ID pins
+PG0 HW_VER_REV_DRIVE OUTPUT LOW
+
+# safety
+PD10 LED_SAFETY OUTPUT
+PF5 SAFETY_IN INPUT PULLDOWN
+
+# heater
+PG15 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+
+# Setup the IMU heater
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+
+# LED
+PE3 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PE4 LED_G1 OUTPUT OPENDRAIN LOW  GPIO(1)
+PE5 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# use pixracer style 3-LED indicators
+define HAL_HAVE_PIXRACER_LED
+
+define HAL_GPIO_LED_ON 0
+
+# compass
+#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
+define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
+COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_90_YAW_90
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
+
+# IMU devices for SULILGH7_P1
+SPIDEV bmi088_a       SPI3      DEVID2          BMI088_A_CS        MODE3   10*MHZ      10*MHZ
+SPIDEV bmi088_g       SPI3      DEVID1          BMI088_G_CS        MODE3   10*MHZ      10*MHZ
+SPIDEV icm42688       SPI4      DEVID2          ICM_42688_CS       MODE3   2*MHZ       8*MHZ
+SPIDEV icm20689       SPI1      DEVID2          ICM20689_CS        MODE3   2*MHZ       8*MHZ
+SPIDEV bmp581         SPI2      DEVID1          BMP_581_CS         MODE3   7.5*MHZ     12*MHZ
+
+SPIDEV ramtron   SPI5 DEVID1  FRAM_CS     MODE3  8*MHZ  8*MHZ
+
+# SULILGH7_P1 3 IMUs
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
+IMU Invensense   SPI:icm20689 ROTATION_PITCH_180_YAW_90
+
+define HAL_INS_HIGHRES_SAMPLE 7
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# barometers
+BARO BMP581 SPI:bmp581
+BARO ICP201XX I2C:1:0x63
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+
+DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SPI3* SDMMC* USART6* ADC* UART* USART*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN True
+
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
+ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin
+
+define HAL_WITH_IO_MCU_DSHOT 1