HAL_ChibiOS: added FreeflyRTK GPS build

a F732 based GPS peripheral

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

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+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32F7xx STM32F732xx
+
+FLASH_RESERVE_START_KB 0
+# two sectors for bootloader, two for storage
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# board ID for firmware load
+APJ_BOARD_ID 1028
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PC7 USB_RESET_N OUTPUT PUSHPULL HIGH
+
+# use safety button to stay in bootloader
+PC14 STAY_IN_BOOTLOADER INPUT PULLDOWN
+define HAL_STAY_IN_BOOTLOADER_VALUE 1
+
+PA6 LED_BOOTLOADER OUTPUT HIGH
+define HAL_LED_ON 0
+
+# Now we define the pins that USB is connected on.
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_SERIAL FALSE
+
+define STM32_SERIAL_USE_USART1 FALSE
+define STM32_SERIAL_USE_USART2 FALSE
+define STM32_SERIAL_USE_USART3 FALSE
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+define CAN_APP_NODE_NAME "org.ardupilot.FreeflyRTK"
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# Add CS pins to ensure they are high in bootloader
+PA15 IMU_CS CS

libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# MCU class and specific type
+
+# MCU class and specific type
+MCU STM32F7xx STM32F732xx
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+
+# store parameters in pages 2 and 3
+define STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 8192
+
+# board ID for firmware load
+APJ_BOARD_ID 1028
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+STM32_ST_USE_TIMER 5
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# assume 512k flash part
+FLASH_SIZE_KB 512
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART2 USART3
+
+# a LED to flash (disabled as used for safety LED)
+# PA6 LED OUTPUT HIGH
+# define HAL_LED_ON 0
+
+# USART2 for F9P GPS UART2
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA
+
+# USART3 for F9P GPS UART1
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+
+# Now we define the pins that USB is connected on.
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# two I2C buses
+PB7 I2C1_SDA I2C1
+PB6 I2C1_SCL I2C1
+
+PC9 I2C3_SDA I2C3
+PA8 I2C3_SCL I2C3
+
+# adjust I2C timing from Stm32CubeMX, with 100ns rise, 100ns fall
+define HAL_I2C_F7_100_TIMINGR 0x10906999
+
+define HAL_USE_I2C TRUE
+
+define STM32_I2C_USE_I2C1 TRUE
+define STM32_I2C_USE_I2C3 TRUE
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+
+define HAL_I2C_INTERNAL_MASK 3
+
+I2C_ORDER I2C1 I2C3
+
+# one SPI bus
+PB3 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# SPI CS
+PA15 IMU_CS CS
+
+# SPI devices
+SPIDEV lsm6ds3 SPI3 DEVID1 IMU_CS MODE0  1*MHZ  8*MHZ
+
+# compass
+COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_PITCH_90
+
+# baro
+BARO BMP388 I2C:0:0x77
+
+# safety LED, active low is same as main LED
+PA6 SAFE_LED OUTPUT HIGH
+define SAFE_LED_ON 0
+
+# safety button
+PC14 SAFE_BUTTON INPUT FLOATING
+define HAL_SAFE_BUTTON_ON 1
+
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_NO_GPIO_IRQ
+
+# avoid RCIN thread to save memory
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define PERIPH_FW TRUE
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.ardupilot.FreeflyRTK"
+
+define HAL_NO_GCS
+define HAL_NO_LOGGING
+define HAL_NO_MONITOR_THREAD
+
+define HAL_MINIMIZE_FEATURES 0
+
+define HAL_BUILD_AP_PERIPH
+
+define HAL_DEVICE_THREAD_STACK 768
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# disable dual GPS and GPS blending to save flash space
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+
+# GPS+MAG+BARO+Buzzer+NeoPixels
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY
+
+# use NCP5623 RGB LED on I2C1
+define BUILD_DEFAULT_LED_TYPE 128
+
+define BARO_MAX_INSTANCES 1
+
+define HAL_PERIPH_GPS_PORT_DEFAULT 2
+
+# use the app descriptor needed by MissionPlanner for CAN upload
+env APP_DESCRIPTOR MissionPlanner
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# listen for reboot command from uploader.py script
+# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0