HAL_ChibiOS: added KakuteF7

thanks to Huibean for the fixes!

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 +1,133 @@
+# 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
+
+define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
+define HAL_BARO_BMP280_BUS 0
+define HAL_BARO_BMP280_I2C_ADDR 0x76
+
+define ALLOW_ARM_NO_COMPASS
+
+define HAL_COMPASS_DEFAULT HAL_COMPASS_BMM150_I2C
+define HAL_COMPASS_BMM150_I2C_BUS   0
+define HAL_COMPASS_BMM150_I2C_ADDR  0x10
+
+define HAL_COMPASS_HMC5843_I2C_BUS 0
+define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
+define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_90
+
+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"