HAL_ChibiOS: update to plane3.9.0beta6

libraries/AP_HAL_ChibiOS/GPIO.cpp

@@ -78,11 +78,6 @@ void GPIO::pinMode(uint8_t pin, uint8_t output)
     }
 }
 
-int8_t GPIO::analogPinToDigitalPin(uint8_t pin)
-{
-    return -1;
-}
-
 
 uint8_t GPIO::read(uint8_t pin)
 {
@@ -149,7 +144,7 @@ bool GPIO::_attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode)
 #ifdef GPIOH
         { GPIOH, EXT_MODE_GPIOH },
 #endif
-#ifdef GPIOI
+#if defined(GPIOI) && defined(GPIOI_BASE)
         { GPIOI, EXT_MODE_GPIOI },
 #endif
     };

libraries/AP_HAL_ChibiOS/GPIO.h

@@ -31,7 +31,6 @@ public:
     GPIO();
     void    init();
     void    pinMode(uint8_t pin, uint8_t output);
-    int8_t  analogPinToDigitalPin(uint8_t pin);
     uint8_t read(uint8_t pin);
     void    write(uint8_t pin, uint8_t value);
     void    toggle(uint8_t pin);

libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef-bl.dat

@@ -0,0 +1,45 @@
+# hw definition file for processing by chibios_hwdef.py
+# for f4by bootloader
+
+MCU STM32F4xx STM32F407xx
+
+APJ_BOARD_ID 20
+
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+
+# board voltage
+STM32_VDD 330U
+
+STM32_ST_USE_TIMER 5
+
+# flash size
+FLASH_SIZE_KB 1024
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART2
+
+PE3 LED_BOOTLOADER OUTPUT
+PE2 LED_ACTIVITY OUTPUT
+define HAL_LED_ON 1
+
+PA9 VBUS INPUT
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+FLASH_USE_MAX_KB 16
+FLASH_RESERVE_START_KB 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# location of application code
+define FLASH_BOOTLOADER_LOAD_KB 16

libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat

@@ -5,7 +5,7 @@
 MCU STM32F4xx STM32F407xx
 
 # board ID for firmware load
-APJ_BOARD_ID 129
+APJ_BOARD_ID 20
 define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_F4BY
                                 
 # USB setup
@@ -123,6 +123,8 @@ define HAL_BARO_MS5611_I2C_BUS 0
 define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
 define HAL_COMPASS_HMC5843_I2C_BUS 0
 define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_270 
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 
 define HAL_EXT_COMPASS_HMC5843_I2C_BUS 1
 

libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef-bl.dat

@@ -0,0 +1,48 @@
+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteF7 bootloader
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 123
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+define STM32_LSECLK   32768U
+define STM32_LSEDRV   (3U << 3U)
+
+define STM32_PLLSRC     STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 8
+define STM32_PLLN_VALUE 432
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+FLASH_SIZE_KB 1024
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+define FLASH_BOOTLOADER_LOAD_KB 96
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+UART_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PA2 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+

libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat

@@ -0,0 +1,137 @@
+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteF7 hardware.
+@ thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 123
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+define STM32_LSECLK   32768U
+define STM32_LSEDRV   (3U << 3U)
+
+define STM32_PLLSRC     STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 8
+define STM32_PLLN_VALUE 432
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+FLASH_SIZE_KB 1024
+
+# leave 2 sectors free
+FLASH_RESERVE_START_KB 96
+
+# board voltage
+STM32_VDD 330U
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen
+UART_ORDER OTG1 USART3 USART1 USART2 UART4
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PA2 LED0 OUTPUT LOW
+
+# SPI1 for SDCard
+PA4 SDCARD_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI4 for ICM20689
+PE4 ICM20689_CS CS
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# I2C1 for baro
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 13
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+ 
+PC5 RSSI_ADC ADC1
+
+# USART1
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (GPS)
+PB11 USART3_RX USART3
+PB10 USART3_TX USART3
+
+# UART4 (GPS2)
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# UART6, RX only, for RCIN
+PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
+
+# UART7 USED BY ESC FROM ORIGINAL DESIGN
+#PE7 UART7_RX UART7
+
+PB0  TIM3_CH3 TIM3 PWM(1)
+PB1  TIM3_CH4 TIM3 PWM(2)
+PE9  TIM1_CH1 TIM1 PWM(3)
+PE11 TIM1_CH2 TIM1 PWM(4)
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# spi devices
+SPIDEV mpu6000  SPI4 DEVID1 ICM20689_CS MODE3  1*MHZ  4*MHZ
+SPIDEV sdcard   SPI1 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ
+SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
+
+define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
+define HAL_BARO_BMP280_BUS 0
+define HAL_BARO_BMP280_I2C_ADDR 0x76
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# probe for an invensense IMU
+define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
+define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+
+# setup for OSD
+define OSD_ENABLED ENABLED
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin