From affbd5e278d3f8fd9c6d6962607d2432eca37c73 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 22 Jul 2022 17:58:21 +0100
Subject: [PATCH] AP_HAL_ChibiOS: hwdef for KakuteH7Miniv2 (1.3)

---
 .../hwdef/KakuteH7Miniv2/README.md            | 98 +++++++++++++++++++
 .../hwdef/KakuteH7Miniv2/hwdef-bl.dat         |  1 +
 .../hwdef/KakuteH7Miniv2/hwdef.dat            | 12 +++
 3 files changed, 111 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md
new file mode 100644
index 0000000000..ed9cb8a855
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md
@@ -0,0 +1,98 @@
+# KakuteH7Mini Flight Controller
+
+The KakuteH7Mini is a flight controller produced by [Holybro](http://www.holybro.com/).
+
+## Features
+
+ - MCU - STM32H743 32-bit processor running at 480 MHz
+ - IMU - MPU6000
+ - Barometer - BMP280
+ - OSD - AT7456E
+ - Onboard Flash: 128Mbits
+ - 6x UARTs (1,2,3,4,6,7)
+ - 9x PWM Outputs (8 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 5V 2A
+
+## Pinout
+
+![KakuteH7Mini Board](KakuteH7Mini_Board.jpg "KakuteH7Mini")
+
+## 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 (DJI VTX, DMA-enabled)
+ - SERIAL2 -> UART2 (VTX)
+ - SERIAL3 -> UART3 (GPS, DMA-enabled)
+ - SERIAL4 -> UART4 (DMA-enabled)
+ - SERIAL5 -> not available
+ - SERIAL6 -> UART6 (RX/SBUS, DMA-enabled)
+ - SERIAL7 -> UART7 (ESC Telemetry)
+
+## RC Input
+
+RC input is configured on the R6 (UART6_RX) pin. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup SERIAL6 as an RC input serial port,
+with half-duplex, pin-swap and inversion enabled.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+ 
+  - SERIAL6_PROTOCOL 10
+  - SERIAL6_OPTIONS 7
+  
+## OSD Support
+
+The KakuteH7Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The KakuteH7Mini supports up to 9 PWM outputs. The pads for motor output
+M1 to M4 on the motor connectors and M5 to M8 on separate pads, plus
+M9 for LED strip or another PWM output.
+
+The PWM is in 5 groups:
+
+ - PWM 1, 2 in group1
+ - PWM 3, 4 in group2
+ - PWM 5, 6 in group3
+ - PWM 7, 8 in group4
+ - PWM 9 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 KakuteH7Mini does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef-bl.dat
new file mode 100644
index 0000000000..fc8e14b874
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef-bl.dat
@@ -0,0 +1 @@
+include ../KakuteH7Mini/hwdef-bl.dat
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef.dat
new file mode 100644
index 0000000000..f475e3915f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/hwdef.dat
@@ -0,0 +1,12 @@
+# KakuteH7Mini v2 with larger flash chip
+
+include ../KakuteH7Mini/hwdef.dat
+
+undef mpu6000
+undef IMU
+
+SPIDEV bmi270    SPI4 DEVID1 MPU6000_CS    MODE3  1*MHZ  4*MHZ
+
+IMU BMI270 SPI:bmi270 ROTATION_PITCH_180_YAW_90
+
+define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV