HAL_Chibios: support modalai_fc-v1 flight controller

Based on M0018 version. Thanks to ModalAI for assistance

libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/README.md

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+# ModalAI Flight Core v1 Controller
+
+The ModalAI FlightCore is a flight controller produced by [ModalAI](http://www.modalai.com/).
+
+## Features
+
+ - STM32F765 microcontroller
+ - ICM42688 and ICM20602 IMUs
+ - BMP388 barometer
+ - microSD card slot
+ - 7 UARTs plus USB
+ - 8 PWM outputs
+
+## Pinout
+
+![ModalAI_v1 Board](fc-overlay-top-144-dpi.jpg "ModalAI_v1")
+
+For detailed pinout descriptions see [FlightCore Pinout](https://docs.modalai.com/flight-core-datasheets-connectors/)
+
+## 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 -> UART7 (Telem1)
+ - SERIAL2 -> UART5 (Telem2)
+ - SERIAL3 -> USART1 (GPS)
+ - SERIAL4 -> UART4 (GPS2)
+ - SERIAL5 -> USART2
+ - SERIAL6 -> USART6 (spektrum RCIN)
+ - SERIAL7 -> USART3
+ - SERIAL8 -> USB2
+
+## RC Input
+
+RC input is configured on both the PPM input pin and the "spektrum"
+USART6 UART. The PPM pin supports all one-way RC protocols. For
+protocols requiring half-duplex serial to transmit telemetry (such as
+FPort) you should use the spektrum port, mapped to SERIAL6. Both PPM
+and spektrum ports are enabled for RCIN by default.
+
+## PWM Output
+
+The ModalAI_v1 supports up to 8 PWM outputs on the PWM output connector
+
+The PWM is in 2 groups:
+
+ - PWM 1, 2, 3, 4 in group1
+ - PWM 5, 6, 7, 8 in group2
+
+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.
+
+## Power Monitoring
+
+In addition to the normal range of ArduPilot power monitoring options,
+the modalAI build supports two I2C power monitors, the INA231 and the
+LTC2946. The FlightCore board comes with the INA231 and you should set
+BATTERY_MONITOR to 21. For the LTC2946 based power brick you should
+set BATTERY_MONITOR to 22.
+
+## Compass
+
+The ModalAI_v1 does not have a built-in compass, but you can attach an
+external compass
+

libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/hwdef-bl.dat

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+# 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
+
+# board ID for firmware load
+APJ_BOARD_ID 41775
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 32
+
+PB1 LED_BOOTLOADER OUTPUT HIGH
+PB0 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART2 USART3
+
+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 32768
+
+# UARTs
+
+# USART2 is telem3, MSS_SPARE_4W
+PA3 USART2_RX USART2 NODMA
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART3, UART_2W_DEBUG
+PD9 USART3_RX USART3 NODMA
+PD8 USART3_TX USART3
+
+# UART5 Telem 2, MSS_UART_4W
+PD2 UART5_RX UART5
+PB9 UART5_TX UART5
+PC8 UART5_RTS UART5
+PC9 UART5_CTS UART5
+
+# UART7 Telem 1, TELEM_UART_4W
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE9 UART7_RTS UART7
+PE10 UART7_CTS UART7
+
+# Add CS pins to ensure they are high in bootloader
+PF3  ICM20602_CS CS SPEED_VERYLOW
+PF4  BMI088_G_CS CS
+PG10 BMI088_A_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW
+PF11 SPARE_CS CS
+PH5  AUXMEM_CS CS
+PI4  EXTERNAL1_CS1 CS
+PI10 EXTERNAL1_CS2 CS
+PI11 EXTERNAL1_CS3 CS
+PI6  EXTERNAL2_CS1 CS
+PI7  EXTERNAL2_CS2 CS
+PI8  EXTERNAL2_CS3 CS

libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for Modal AI FC v1
+
+# MCU class and specific type. It is a F765, which is the same as F767
+# but without the TFT interface
+MCU STM32F7xx STM32F767xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 41775
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+FLASH_RESERVE_START_KB 32
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART1 UART4 USART2 USART6 USART3 OTG2
+
+# default the 2nd interface to MAVLink2
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 - ICM20602
+PA5 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PB5 SPI1_MOSI SPI1
+
+# SPI2 - ICM42688
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+
+# SPI5 - FRAM
+PF7 SPI5_SCK SPI5
+PF8 SPI5_MISO SPI5
+PF11 SPI5_MOSI SPI5
+
+# SPI6 - BMI088 6DoF, disabled due to lack of DMA channels
+#PB3 SPI6_SCK SPI6
+#PA6 SPI6_MISO SPI6
+#PG14 SPI6_MOSI SPI6
+
+# sensor CS
+PI9  ICM20602_CS CS
+PH5  ICM42688_CS CS
+PA15 BMI088_G_CS CS
+PI10 BMI088_A_CS CS
+PG7  FRAM_CS CS SPEED_VERYLOW
+
+# fsync pins
+PA0 IMU_2_FSYNC INPUT FLOATING
+PA1 IMU_3_FSYNC INPUT FLOATING
+
+# interrupt pins
+PF2  IMU_1_DRDY INPUT PULLDOWN
+PH12 IMU_2_DRDY INPUT PULLDOWN
+PG5  BARO_INT INPUT PULLDOWN
+PF3  SPARE_INT INPUT PULLDOWN
+PI6  IMU_3_ACCEL_INT INPUT PULLDOWN
+PI7  IMU_3_GYRO_INT INPUT PULLDOWN
+
+# LSE crystal, unused
+PC14 LSE1 INPUT FLOATING
+PC15 LSE2 INPUT FLOATING
+
+# HWID pins, unused
+PA4 HWID_DAC1 INPUT FLOATING
+PF4 HW_VER_SENS INPUT FLOATING
+PF5 HW_REV_SENS INPUT FLOATING
+PG0 HW_VR_DRIVE INPUT FLOATING
+
+# security module, A71CH
+PH3 SEC_RESET INPUT PULLDOWN
+
+
+# I2C buses
+
+# I2C1, EXT_GPS_I2C
+PB8 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2, DISPLAY_I2C
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C3, EXP_I2C
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4, BMP388 BARO AND A71CH SEC MODULE (0x49)
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C4 I2C3 I2C2 I2C1
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# GPIOs
+PE3 EXC_GPIO_25 INPUT FLOATING GPIO(110)
+# PE4 EXC_GPIO_26 INPUT FLOATING GPIO(111)
+
+# allow to have have a dedicated safety switch pin
+# on PE4
+PE4 SAFETY_IN INPUT PULLDOWN
+define HAL_HAVE_SAFETY_SWITCH 1
+define BOARD_SAFETY_ENABLE_DEFAULT 0
+
+# start peripheral power off, then enable after init
+# this prevents a problem with radios that use RTS for
+# bootloader hold
+#PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+#PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH
+
+#PG5  VDD_5V_RC_EN OUTPUT HIGH
+#PG6  VDD_5V_WIFI_EN OUTPUT HIGH
+PC13  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# UARTs
+
+# USART1 is EXT_GPS
+PB15 USART1_RX USART1 NODMA
+PB14 USART1_TX USART1
+
+# USART2 is telem3, MSS_SPARE_4W
+PA3 USART2_RX USART2 NODMA
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART3, UART_2W_DEBUG
+PD9 USART3_RX USART3 NODMA
+PD8 USART3_TX USART3
+
+# UART4 GPS2, EXP_UART_2W
+PH14 UART4_RX UART4 NODMA
+PH13 UART4_TX UART4
+
+# UART5 Telem 2, MSS_UART_4W
+PD2 UART5_RX UART5
+PB9 UART5_TX UART5
+PC8 UART5_RTS UART5
+PC9 UART5_CTS UART5
+
+# USART6, spektrum
+PC7 USART6_RX USART6 NODMA GPIO(74)
+PC6 USART6_TX USART6
+
+# RC input. Support all serial protocols on both PPM and spektrum
+# ports. PPM protocol also supported on the PPM port
+PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
+
+# setup for spektrum satellite bind
+define HAL_GPIO_SPEKTRUM_RC 74
+PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
+define HAL_GPIO_SPEKTRUM_PWR 73
+define HAL_SPEKTRUM_PWR_ENABLED 1
+
+# setup for RCIN on USUART6, will auto-baud for 100000 and 115200 and
+# auto-switch inversion as needed
+define HAL_SERIAL6_PROTOCOL 23
+define HAL_SERIAL6_BAUD 115200
+
+# UART7 Telem 1, TELEM_UART_4W
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE9 UART7_RTS UART7
+PE10 UART7_CTS UART7
+
+# PWM AUX channels
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
+PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PA8  TIM1_CH1 TIM1 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
+PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
+
+# PWM output for buzzer
+#PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
+
+define HAL_USE_ADC FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+# INA231 battery monitor
+define HAL_BATTMON_INA231_BUS 1
+define HAL_BATTMON_INA231_ADDR 0x44
+define HAL_BATT_MONITOR_DEFAULT 21
+
+# on some units a LTC2946 is used
+define HAL_BATTMON_LTC2946_BUS 1
+define HAL_BATTMON_LTC2946_ADDR 0x6a
+
+PC0 VDD_5V_SENS ADC1 SCALE(2) # ADC pin 10
+PC1 SCALED_V3V3 ADC1 SCALE(2)
+
+define ANALOG_VCC_5V_PIN 10
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+#PHI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# SPI devices
+SPIDEV icm42688       SPI2 DEVID1  ICM42688_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV icm20602       SPI1 DEVID2  ICM20602_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV ramtron        SPI5 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ
+
+# SPI6 disabled due to lack of DMA channels
+#SPIDEV bmi088_g       SPI6 DEVID3  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
+#SPIDEV bmi088_a       SPI6 DEVID4  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
+
+# two IMUs enabled
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
+IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90
+#IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# one baro on I2C4
+BARO BMP388 I2C:0:0x76
+
+# microSD support on SDMMC2
+PG9  SDMMC2_D0 SDMMC2
+PG10 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PG12 SDMMC2_D3 SDMMC2
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+
+define FATFS_HAL_DEVICE SDCD2
+define HAL_OS_FATFS_IO 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# red LED
+PB0 LED_RED OUTPUT OPENDRAIN GPIO(90)
+PB1 LED_GREEN OUTPUT OPENDRAIN GPIO(91)
+PA7 LED_BLUE OUTPUT OPENDRAIN GPIO(92)
+
+# 2nd bank of LEDs
+PI0  LED_RED_2   OUTPUT OPENDRAIN LOW GPIO(93)
+PA2  LED_BLUE_2  OUTPUT OPENDRAIN LOW GPIO(94)
+PH11 LED_GREEN_2 OUTPUT OPENDRAIN LOW GPIO(95)
+
+# setup for BoardLED2
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 92
+define HAL_GPIO_C_LED_PIN 91
+define HAL_GPIO_LED_ON 0
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+DMA_PRIORITY SDMMC* ADC* SPI* TIM* UART*
+