AP_HAL_ChibiOS: hwdef for SPRacing H7RF

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7RF/README.md

@@ -0,0 +1,95 @@
+# Serious Pro Racing H6 Extreme Flight Controller
+
+The SPRacingH7 Extreme is a flight controller produced by [Seriously Pro Racing](http://www.seriouslypro.com/).
+
+## Features
+
+ - MCU - STM32H750 32-bit processor running at 400 MHz
+ - 16MByte Serial NOR flash via QuadSPI
+ - IMUs - 2x ICM20602
+ - Barometer - BMP388
+ - OSD - AT7456E
+ - Onboard Flash: 128Mbits
+ - 7x UARTs (1,2,3,4,5,6,8)
+ - 11x PWM Outputs (10 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 5V 1A
+
+## Pinout
+
+![SPRacingH7 Board](SPRacingH7_Board.JPG "SPRacingH7")
+
+## 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 (DMA-enabled)
+ - SERIAL2 -> UART2 (RCIN one wire, DMA-enabled)
+ - SERIAL3 -> UART3 (DMA-enabled)
+ - SERIAL4 -> UART4 (DMA-enabled)
+ - SERIAL5 -> UART5 (DMA-enabled)
+ - SERIAL6 -> UART6 (On motor pads 7/8, with alt config 1, DMA-enabled)
+ - SERIAL8 -> UART8 (DMA-enabled)
+
+## RC Input
+
+RC input is configured on the T2 (UART2_TX) pin. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup SERIAL2 as an RC input serial port,
+with half-duplex, pin-swap and inversion enabled.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T2 pin (UART2 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+ 
+  - SERIAL2_PROTOCOL 10
+  - SERIAL2_OPTIONS 7
+  
+## OSD Support
+
+The SPRacingH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The SPRacingH7 supports up to 11 PWM outputs. The pads for motor output
+M1 to M4 on the motor connectors and M5 to M8 on separate pads, plus
+M11 for LED strip or another PWM output. M9 and M10 are only available on the stacking connector.
+
+The PWM is in 5 groups:
+
+ - PWM 1-4   in group1
+ - PWM 5, 6  in group2
+ - PWM 7, 8  in group3
+ - PWM 9, 10 in group4
+ - PWM 11    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 SPRacingH7 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Loading Firmware
+
+Since this board stores the flight control software on external flash the initial firmware load should be done using the
+SPRacing SSBL (https://github.com/spracing/ssbl). Please follow the instructions for loading PX4 firmware to load ArduPilot.
+A convenience script is provided Tools/scripts/ssbl_uploader.sh to perform the required steps.
+It should also be possible to load the ArduPilot bootloader via DFU, but doing so will invalidate your warranty.

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7RF/defaults.parm

@@ -0,0 +1,10 @@
+# setup for LEDs on chan5
+SERVO11_FUNCTION 120
+NTF_LED_TYPES 257
+
+# setup SERIAL2 for RCIN
+SERIAL2_BAUD 115
+SERIAL2_OPTIONS 8
+
+# pinswap UART5 for ESC telemetry
+SERIAL5_OPTIONS 8

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7RF/hwdef-bl.dat

@@ -0,0 +1,66 @@
+# hw definition file for processing by chibios_pins.py
+# for SP/Racing H7RF hardware.
+
+# MCU class and specific type
+MCU STM32H7xx STM32H730xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1108
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+MCU_CLOCKRATE_MHZ 520
+
+# limited flash that can't be used
+FLASH_SIZE_KB 128
+FLASH_RESERVE_START_KB 0
+FLASH_RESERVE_END_KB 0
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# 16mb external flash
+EXT_FLASH_SIZE_MB 2
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 USART1
+
+# USART1
+PB15 USART1_RX USART1
+PB14 USART1_TX USART1
+
+# USB
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+
+# Debug
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PE3 LED_BOOTLOADER OUTPUT LOW # Red LED
+define HAL_LED_ON 0
+
+# OctoSPI Flash
+PD11 OCTOSPIM_P1_IO0 OCTOSPI1
+PD12 OCTOSPIM_P1_IO1 OCTOSPI1
+PE2 OCTOSPIM_P1_IO2 OCTOSPI1
+PD13 OCTOSPIM_P1_IO3 OCTOSPI1
+PE7 OCTOSPIM_P1_IO4 OCTOSPI1
+PE8 OCTOSPIM_P1_IO5 OCTOSPI1
+PE9 OCTOSPIM_P1_IO6 OCTOSPI1
+PE10 OCTOSPIM_P1_IO7 OCTOSPI1
+PB6 OCTOSPIM_P1_NCS OCTOSPI1
+PB2 OCTOSPIM_P1_CLK OCTOSPI1
+
+# IFace  Device Name  Bus      QSPI Mode  Clk Freq  Size (Pow2)  NCS Delay
+OSPIDEV  w25q         OCTOSPI1 MODE3      130*MHZ   21           1
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PA15 ICM42688_CS CS
+PE11 PIXELOSD_CS CS
+
+## pull up VTX power
+PC15 VTX_PWR OUTPUT HIGH GPIO(81)

libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7RF/hwdef.dat

@@ -0,0 +1,180 @@
+# hw definition file for processing by chibios_pins.py
+# for SP/Racing Extreme H7 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H730xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1108
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+MCU_CLOCKRATE_MHZ 520
+
+env OPTIMIZE -O2
+
+define HAL_WITH_EKF_DOUBLE 0
+
+STM32_ST_USE_TIMER 2
+
+# internal flash is off limits
+FLASH_SIZE_KB 128
+FLASH_RESERVE_START_KB 0
+define HAL_FLASH_PROTECTION 1
+
+EXT_FLASH_SIZE_MB 2
+
+I2C_ORDER I2C1 I2C2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 EMPTY USART2 USART3 UART4 UART5 EMPTY EMPTY UART8
+
+# Buzzer - DMA timer channel use by LEDs
+PD7 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# USB
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+
+# Debug
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI2 SX1280
+# Requires a driver!
+PB12 SX1280_CS CS
+PD3  SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI6 ICM42688
+PA15 ICM42688_CS CS
+PB3 SPI6_SCK SPI6
+PB4 SPI6_MISO SPI6
+PB5 SPI6_MOSI SPI6
+
+# SPI4 for OSD
+PE11 PIXELOSD_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# I2C1 for external MAG connection on J8, no pull-ups, external pull-ups REQUIRED
+PB8 I2C1_SCL I2C1 PULLUP
+PB9 I2C1_SDA I2C1 PULLUP
+
+# I2C2 has BMP388 internally connected, 10k pull-ups
+PB10 I2C2_SCL I2C2 PULLUP
+PB11 I2C2_SDA I2C2 PULLUP
+
+# ESC1 connector BATT/CURRENT
+PC3 BATT_VOLTAGE_SENS ADC2 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC2 SCALE(1)
+# ESC2 connector CURRENT
+PC0 BATT_CURRENT_SENS2 ADC2 SCALE(1)    # analog pin 10
+
+# VTX Power control - should be high at startup to ensure power
+PC15 VTX_PWR OUTPUT HIGH GPIO(81)
+define RELAY2_PIN_DEFAULT 81
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 13
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 10.9
+define HAL_BATT_CURR_SCALE 28.5
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# USART2
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+
+# USART3
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART4
+PD0 UART4_RX UART4
+PD1 UART4_TX UART4
+
+# UART5 (ESC Telem)
+PB13 UART5_TX UART5
+
+# UART8
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# SD card
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# OctoSPI Flash
+PD11 OCTOSPIM_P1_IO0 OCTOSPI1
+PD12 OCTOSPIM_P1_IO1 OCTOSPI1
+PE2 OCTOSPIM_P1_IO2 OCTOSPI1
+PD13 OCTOSPIM_P1_IO3 OCTOSPI1
+PE7 OCTOSPIM_P1_IO4 OCTOSPI1
+PE8 OCTOSPIM_P1_IO5 OCTOSPI1
+PE9 OCTOSPIM_P1_IO6 OCTOSPI1
+PE10 OCTOSPIM_P1_IO7 OCTOSPI1
+PB6 OCTOSPIM_P1_NCS OCTOSPI1
+PB2 OCTOSPIM_P1_CLK OCTOSPI1
+
+# Motors
+// On 4in1ESC_1 (Top)
+PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR    # M1
+PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)          # M1
+PA6 TIM3_CH1 TIM3 PWM(3) GPIO(52) BIDIR    # M3
+PA7 TIM3_CH2 TIM3 PWM(4) GPIO(53)          # M4
+
+// On 4in1ESC_2 (Bottom)
+PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) BIDIR    # M5
+PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55)          # M6
+PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56) BIDIR    # M7
+PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57)          # M8
+
+// On
+PB7 TIM17_CH1N TIM17 PWM(9) GPIO(58)       # LED
+
+ # Red LED
+PE5 LED0 OUTPUT LOW GPIO(90)
+PE6 LED1 OUTPUT LOW GPIO(91)
+
+# spi devices
+SPIDEV icm42688 SPI6 DEVID1 ICM42688_CS MODE3  2*MHZ  16*MHZ
+#SPIDEV osd       SPI4 DEVID4 PIXELOSD_CS MODE0 10*MHZ 10*MHZ
+#SPIDEV radio     SPI2 DEVID1 SX1280_CS MODE0 10*MHZ 10*MHZ
+
+DMA_PRIORITY SPI6* SPI2* TIM3*
+
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 2
+
+IMU Invensense SPI:icm42688 ROTATION_YAW_90
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# one BARO
+BARO BMP388 I2C:1:0x76
+
+# setup for OSD
+#define OSD_ENABLED 1
+#define HAL_OSD_TYPE_DEFAULT 1
+#ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define BOARD_PWM_COUNT_DEFAULT 9
+
+define HAL_STORAGE_SIZE 16384