AP_HAL_ChibiOS: hwdef for BeastF7 v2

Fix undef of alt pins

libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat

@@ -37,7 +37,7 @@ PA12 OTG_FS_DP OTG1
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-# SPI1 for BMI270
+# SPI1 for BMI270 / MPU6000
 PA4 BMI270_CS CS
 PA5 SPI1_SCK SPI1
 PA6 SPI1_MISO SPI1
@@ -113,7 +113,6 @@ define HAL_LOGGING_DATAFLASH_ENABLED 1
 
 # spi devices
 SPIDEV mpu6000   SPI1 DEVID1 BMI270_CS  MODE3  1*MHZ  4*MHZ
-SPIDEV bmi270    SPI1 DEVID1 BMI270_CS  MODE3 10*MHZ 10*MHZ
 SPIDEV dataflash SPI3 DEVID2 FLASH_CS   MODE3 32*MHZ 32*MHZ
 SPIDEV osd       SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
 
@@ -124,13 +123,10 @@ define HAL_I2C_INTERNAL_MASK 0
 
 # one IMU, v1 mpu6000 and v2 bmi270
 IMU Invensense SPI:mpu6000 ROTATION_YAW_270
-IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
 
 # one BARO
 BARO BMP280 I2C:0:0x76
-# v2 has no BARO
-define HAL_BARO_ALLOW_INIT_NO_BARO 1
 
 # setup for OSD
 define OSD_ENABLED 1

libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/README.md

@@ -0,0 +1,87 @@
+# iFlight Beast F7 v2 55A AIO Flight Controller
+
+https://shop.iflight-rc.com/quad-parts-cat20/electronics-cat27/beast-series-cat330/Beast-F7-45A-V2-AIO-MPU6000-25.5-25.5-Pro1625
+
+The Beast F7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/).
+
+## Features
+
+ - MCU: BGA-STM32F745
+ - Gyro: BMI270
+ - 16Mb Onboard Flash
+ - BEC output: 5V 2.5A 
+ - No Barometer
+ - OSD: AT7456E
+ - 5 UARTS: (UART1, UART2, UART3, UART4, UART7)
+ - 5 PWM outputs (4 motors and 1 LED)
+
+## Pinout
+
+![Beast F7 v2 AIO Board](beast_f7v2_pinout.JPG "Beast F7 v2 AIO")
+
+## 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.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL1|RX1/TX1|UART1 (DJI)|
+|SERIAL2|TX2/RX2|UART2 (DJI RC Input)|
+|SERIAL3|RX3|UART3 (Telem1 / Alt RC Input/Output)|
+|SERIAL4|TX4/RX4|UART4 (GPS)|
+|SERIAL7|TX7/RX7|UART7|
+
+
+UART1 supports RX and TX DMA. UART2, UART3 and UART4 support RX DMA. UART7 supports TX DMA
+
+## RC Input
+ 
+RC input is configured on the (UART3_RX) pin which forms part of the DJI connector. It supports all RC protocols.
+For RC input/output use UART1 wih SERIAL1_PROTOCOL as 23 and set SERIAL3_PROTOCOL set to -1
+  
+## OSD Support
+
+The Beast F7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The Beast F7 AIO supports up to 4 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are for the 4 outputs. All 4 outputs support DShot as well as all PWM types.
+
+The PWM are in in two groups.
+
+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.
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_VOLT_MULT around 10.9
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT around 28.5
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The Beast F7 AIO does not have a builtin compass and you cannot attach an external compass due to the lack of an external I2C connector.
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output.
+
+## 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.

libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/defaults.parm

@@ -0,0 +1,5 @@
+# setup for LEDs on chan5
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
+# setup SERIAL2 for RCIN
+SERIAL2_BAUD 115

libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef-bl.dat

@@ -0,0 +1,3 @@
+include ../BeastF7/hwdef-bl.dat
+undef APJ_BOARD_ID
+APJ_BOARD_ID 1057

libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat

@@ -0,0 +1,61 @@
+# hw definition file for processing by chibios_pins.py
+# for iFlight Beast F7 v2 hardware, based on Beast F7 v1
+# thanks to betaflight for pin information
+
+include ../BeastF7/hwdef.dat
+undef APJ_BOARD_ID
+undef HAL_SERIAL3_PROTOCOL
+undef IMU
+undef BARO
+undef PD15
+undef PE9 PE11 PB8 PB9 PB11 PB10 PA10 PA9 PA3 PA2
+undef HAL_DEFAULT_INS_FAST_SAMPLE DMA_PRIORITY DMA_NOSHARE
+undef STM32_PWM_USE_ADVANCED
+undef I2C1
+
+# board ID for firmware load
+APJ_BOARD_ID 1057
+
+# V2 has different motor mapping
+PB4 TIM3_CH1 TIM3 PWM(2) GPIO(51)  BIDIR   # 2
+PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52)          # 3
+
+# only one I2C bus
+I2C_ORDER I2C2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
+
+# Buzzer - DMA timer channel use by LEDs
+PD2 BUZZER OUTPUT GPIO(80) LOW
+
+# USART1 (DJI)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1 NODMA
+
+# USART2 (DJI RCIN)
+PA3 USART2_RX USART2
+PA2 USART2_TX USART2 NODMA
+define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# USART3 (RCIN)
+PB11 USART3_RX USART3
+PB10 USART3_TX USART3
+
+# I2C2 for compass. These pins can also be used as USART3
+PB10 I2C2_SCL I2C2 ALT(1)
+PB11 I2C2_SDA I2C2 ALT(1)
+
+# spi devices
+SPIDEV bmi270    SPI1 DEVID1 BMI270_CS  MODE3 10*MHZ 10*MHZ
+
+DMA_PRIORITY USART1* TIM3*
+
+# no built-in compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# one IMU
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
+
+# v2 has no BARO
+define HAL_BARO_ALLOW_INIT_NO_BARO 1

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -2487,6 +2487,8 @@ def process_line(line):
             config.pop(u, '')
             bytype.pop(u, '')
             bylabel.pop(u, '')
+            alttype.pop(u, '')
+            altlabel.pop(u, '')
             # also remove all occurences of defines in previous lines if any
             for line in alllines[:]:
                 if line.startswith('define') and u == line.split()[1]: