HAL_ChibiOS: support for CUAVv5Nano board

F765 with no IOMCU

libraries/AP_HAL_ChibiOS/hwdef/CUAVv5Nano/hwdef-bl.dat

@@ -0,0 +1,59 @@
+# hw definition file for processing by chibios_hwdef.py
+# CUAVv5Nano
+
+# MCU class and specific type
+MCU STM32F7xx STM32F767xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define STM32_LSECLK 32768U
+define STM32_LSEDRV (3U << 3U)
+define STM32_PLLSRC STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 8
+define STM32_PLLN_VALUE 216
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+# board ID for firmware load
+APJ_BOARD_ID 50
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+define FLASH_BOOTLOADER_LOAD_KB 32
+
+# start with PE3 low
+undef PE3
+PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+PC6 LED_BOOTLOADER OUTPUT HIGH
+PC7 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART2 UART7
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+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 16384

libraries/AP_HAL_ChibiOS/hwdef/CUAVv5Nano/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for CUAVv5Nano F7 hardware.
+# This is a varient of fmuv5 without the IOMCU
+
+include ../fmuv5/hwdef.dat
+
+# we shift the system timer to TIM5 to allow
+# us to use TIM2 for extra PWM outputs
+STM32_ST_USE_TIMER 5
+
+# start with PE3 low
+undef PE3
+PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# order of UARTs (and USB). Telem2 is UART4 on the mini, USART3 is not available
+UART_ORDER OTG1 USART1 USART2 UART4 USART6 UART7
+
+# enable TX on USART6 (disabled for fmuv5 with iomcu)
+PG14 USART6_TX USART6 NODMA
+
+# disable the IOMCU UART
+undef IOMCU_UART
+undef UART8_TX
+undef UART8_RX
+undef AP_FEATURE_SBUS_OUT
+
+# allow the first 3 capture ports to be used as PWM outputs or GPIOs
+undef PA5
+undef PB3
+undef PB11
+undef FMU_CAP1
+undef FMU_CAP2
+undef FMU_CAP3
+
+PA5  TIM2_CH1 TIM2 PWM(9)  GPIO(58)
+PB3  TIM2_CH2 TIM2 PWM(10) GPIO(59)
+PB11 TIM2_CH4 TIM2 PWM(11) GPIO(60)
+
+# RCInput on the PPM pin, for all protocols
+undef PG9
+undef USART6_RX
+PI5 TIM8_CH1 TIM8 RCININT PULLUP LOW
+
+# setup for supplied power brick
+undef HAL_BATT_VOLT_SCALE
+define HAL_BATT_VOLT_SCALE 18.182
+undef HAL_BATT_CURR_SCALE
+define HAL_BATT_CURR_SCALE 36.364
+
+# setup safety switch
+PE12 LED_SAFETY OUTPUT
+PE10 SAFETY_IN INPUT PULLDOWN
+
+# extra LEDs, active low, used using the pixracer LED scheme
+PH10 LED_R OUTPUT HIGH GPIO(0)
+PH11 LED_G OUTPUT HIGH GPIO(1)
+PH12 LED_B OUTPUT HIGH GPIO(2)
+
+undef HAL_GPIO_A_LED_PIN
+undef HAL_GPIO_B_LED_PIN
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+define HAL_HAVE_PIXRACER_LED