AP_HAL_ChibiOS: update SPRacingH7 Extreme hwdef and add README

add SPRacingH7 board layout

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/README.md

@@ -0,0 +1,95 @@
+# Serious Pro Racing H6 Extreme Flight Controller
+
+The SPRacingH7 Extreme is a flight controller produced by [Seriously Pro Racing](http://www.seriouslypro.com/).
+
+## Features
+
+ - MCU - STM32H750 32-bit processor running at 400 MHz
+ - 16MByte Serial NOR flash via QuadSPI
+ - IMUs - 2x ICM20602
+ - Barometer - BMP388
+ - OSD - AT7456E
+ - Onboard Flash: 128Mbits
+ - 7x UARTs (1,2,3,4,5,6,8)
+ - 11x PWM Outputs (10 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 5V 1A
+
+## Pinout
+
+![SPRacingH7 Board](SPRacingH7_Board.JPG "SPRacingH7")
+
+## 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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (DMA-enabled)
+ - SERIAL2 -> UART2 (RCIN one wire, DMA-enabled)
+ - SERIAL3 -> UART3 (DMA-enabled)
+ - SERIAL4 -> UART4 (DMA-enabled)
+ - SERIAL5 -> UART5 (DMA-enabled)
+ - SERIAL6 -> UART6 (On motor pads 7/8, with alt config 1, DMA-enabled)
+ - SERIAL8 -> UART8 (DMA-enabled)
+
+## RC Input
+
+RC input is configured on the T2 (UART2_TX) pin. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup SERIAL2 as an RC input serial port,
+with half-duplex, pin-swap and inversion enabled.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T2 pin (UART2 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+ 
+  - SERIAL2_PROTOCOL 10
+  - SERIAL2_OPTIONS 7
+  
+## OSD Support
+
+The SPRacingH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The SPRacingH7 supports up to 11 PWM outputs. The pads for motor output
+M1 to M4 on the motor connectors and M5 to M8 on separate pads, plus
+M11 for LED strip or another PWM output. M9 and M10 are only available on the stacking connector.
+
+The PWM is in 5 groups:
+
+ - PWM 1-4   in group1
+ - PWM 5, 6  in group2
+ - PWM 7, 8  in group3
+ - PWM 9, 10 in group4
+ - PWM 11    in group5
+
+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. Channels 1-4 support bi-directional dshot.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 11.1
+ - BATT_AMP_PERVLT 59.5
+
+## Compass
+
+The SPRacingH7 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Loading Firmware
+
+Since this board stores the flight control software on external flash the initial firmware load should be done using the
+SPRacing SSBL (https://github.com/spracing/ssbl). Please follow the instructions for loading PX4 firmware to load ArduPilot.
+A convenience script is provided Tools/scripts/ssbl_uploader.sh to perform the required steps.
+It should also be possible to load the ArduPilot bootloader via DFU, but doing so will invalidate your warranty.

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/defaults.parm

@@ -4,3 +4,4 @@ NTF_LED_TYPES 257
 
 # setup SERIAL2 for RCIN
 SERIAL2_BAUD 115
+SERIAL2_OPTIONS 8

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat

@@ -27,7 +27,7 @@ EXT_FLASH_RESERVE_END_KB 448
 I2C_ORDER I2C1
 
 # order of UARTs (and USB)
-SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 EMPTY EMPTY UART8
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 EMPTY UART8
 
 # Buzzer - DMA timer channel use by LEDs
 PD7 BUZZER OUTPUT GPIO(80) LOW
@@ -86,7 +86,6 @@ PB14 USART1_TX USART1
 
 # USART2 (RCIN)
 PD5 USART2_TX USART2
-PD6 USART2_RX USART2 ALT(1)
 define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
 
 # USART3
@@ -101,6 +100,10 @@ PD1 UART4_TX UART4
 PB5 UART5_RX UART5
 PB13 UART5_TX UART5
 
+# UART6
+PC7 USART6_RX USART6 ALT(1)
+PC6 USART6_TX USART6 ALT(1)
+
 # UART8
 PE0 UART8_RX UART8
 PE1 UART8_TX UART8
@@ -136,6 +139,12 @@ PC7  TIM8_CH2 TIM8 PWM(8) GPIO(57)          # M8
 PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)          # M9
 PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)         # M10
 
+# Motor outputs on the stacking connector
+#PA6  TIM3_CH1 TIM3 PWM(1) GPIO(61)          # M11
+#PA7  TIM3_CH2 TIM3 PWM(2) GPIO(62)          # M12
+#PB0  TIM3_CH3 TIM3 PWM(3) GPIO(63)          # M13
+#PB1  TIM3_CH4 TIM3 PWM(4) GPIO(64)          # M14
+
 # NeoPixel LED strip
 PA8 TIM1_CH1 TIM1 PWM(11) GPIO(60)
 PE3 LED0 OUTPUT LOW GPIO(90) # Blue LED