AP_HAL_ChibiOS: add support for H757I Evaluation board

libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef-bl.dat

@@ -0,0 +1,85 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+
+# USB setup
+USB_STRING_MANUFACTURER "ArduPilot"
+USB_STRING_PRODUCT "%BOARD%"
+
+define CORE_CM7
+define SMPS_PWR
+
+define WATCHDOG_DISABLED
+
+# crystal frequency
+OSCILLATOR_HZ 25000000
+
+# board ID for firmware load
+APJ_BOARD_ID 146
+
+FLASH_SIZE_KB 2048
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+EXTERNAL_PROG_FLASH_MB 128
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+define HAL_LED_ON 1
+
+PK3 LED OUTPUT LOW
+PK4 LED_BOOTLOADER OUTPUT
+PK5 LED_ACTIVITY OUTPUT
+
+PB15 USART1_RX USART1
+PB14 USART1_TX USART1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# the first CAN bus
+# PA11 CAN1_RX CAN1
+# PA12 CAN1_TX CAN1
+# PC8 GPIO CAN_SLEEP OUTPUT LOW
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# QSPI Flash
+PF8 QUADSPI_BK1_IO0 QUADSPI1
+PF9 QUADSPI_BK1_IO1 QUADSPI1
+PF7 QUADSPI_BK1_IO2 QUADSPI1
+PF6 QUADSPI_BK1_IO3 QUADSPI1
+PG6 QUADSPI_BK1_NCS QUADSPI1
+PB2 QUADSPI_CLK QUADSPI1
+
+# IFace     Device Name     Bus      QSPI Mode     Clk Freq  Size (Pow2)  NCS Delay
+QSPIDEV       mt25q       QUADSPI1      MODE1       50*MHZ      24            2
+
+PB13 VBUS INPUT OPENDRAIN
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.cubepilot.H757"
+define BOOTLOADER_DEBUG SD1

libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat

@@ -0,0 +1,88 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H757
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+
+# USB setup
+USB_STRING_MANUFACTURER "ArduPilot"
+USB_STRING_PRODUCT "%BOARD%"
+
+define CORE_CM7
+define SMPS_PWR
+
+define WATCHDOG_DISABLED
+
+# crystal frequency
+OSCILLATOR_HZ 25000000
+
+# board ID for firmware load
+APJ_BOARD_ID 146
+
+FLASH_SIZE_KB 2048
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+define HAL_LED_ON 1
+
+PK3 LED OUTPUT LOW
+PK4 LED_BOOTLOADER OUTPUT
+PK5 LED_ACTIVITY OUTPUT
+
+PB15 USART1_RX USART1
+PB14 USART1_TX USART1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# the first CAN bus
+# PA11 CAN1_RX CAN1
+# PA12 CAN1_TX CAN1
+# PC8 GPIO CAN_SLEEP OUTPUT LOW
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# no ADC driver
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_RCIN_THREAD
+define HAL_NO_GPIO_IRQ
+define NO_DATAFLASH TRUE
+define DISABLE_SERIAL_ESC_COMM TRUE
+
+# QSPI Flash
+PF8 QUADSPI_BK1_IO0 QUADSPI1
+PF9 QUADSPI_BK1_IO1 QUADSPI1
+PF7 QUADSPI_BK1_IO2 QUADSPI1
+PF6 QUADSPI_BK1_IO3 QUADSPI1
+PG6 QUADSPI_BK1_NCS QUADSPI1
+PB2 QUADSPI_CLK QUADSPI1
+
+# IFace     Device Name     Bus      QSPI Mode     Clk Freq  Size (Pow2)  NCS Delay
+QSPIDEV       mt25q       QUADSPI1      MODE1       50*MHZ      24            2
+
+PB13 VBUS INPUT OPENDRAIN
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "org.cubepilot.H757"

libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py

@@ -19,8 +19,8 @@ mcu = {
     # flags of 2 means faster memory for CPU intensive work
     # flags of 4 means memory can be used for SDMMC DMA
     'RAM_MAP' : [
-        (0x20000000, 128, 2), # DTCM, tightly coupled, no DMA, fast
         (0x30000000, 288, 0), # SRAM1, SRAM2, SRAM3
+        (0x20000000, 128, 2), # DTCM, tightly coupled, no DMA, fast
         (0x38000000,  64, 1), # SRAM4. This supports both DMA and BDMA ops
         (0x24000000, 512, 4), # AXI SRAM. Use this for SDMMC IDMA ops
         (0x00000400,  63, 2), # ITCM (first 1k removed, to keep address 0 unused)

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -1029,6 +1029,8 @@ def write_QSPI_table(f):
         bus = dev[1]
         mode = dev[2]
         speed = dev[3]
+        size_pow2 = dev[4]
+        ncs_clk_delay = dev[5]
         if not bus.startswith('QUADSPI') or bus not in qspi_list:
             error("Bad QUADSPI bus in QSPIDEV line %s" % dev)
         if mode not in ['MODE1', 'MODE3']:
@@ -1038,8 +1040,8 @@ def write_QSPI_table(f):
 
         devidx = len(devlist)
         f.write(
-            '#define HAL_QSPI_DEVICE%-2u QSPIDesc(%-17s, %2u, QSPIDEV_%s, %7s)\n'
+            '#define HAL_QSPI_DEVICE%-2u QSPIDesc(%-17s, %2u, QSPIDEV_%s, %7s, %2u, %2u)\n'
-            % (devidx, name, qspi_list.index(bus), mode, speed))
+            % (devidx, name, qspi_list.index(bus), mode, speed, int(size_pow2), int(ncs_clk_delay)))
         devlist.append('HAL_QSPI_DEVICE%u' % devidx)
     f.write('#define HAL_QSPI_DEVICE_LIST %s\n\n' % ','.join(devlist))
     for dev in qspidev: