HAL_ChibiOS: added KakuteH7 support

libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/README.md

@@ -0,0 +1,100 @@
+# KakuteH7 Flight Controller
+
+The KakuteH7 is a flight controller produced by [Holybro](http://www.holybro.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - ICM20689 IMU
+ - BMP280 barometer
+ - microSD card slot
+ - AT7456E OSD
+ - 6 UARTs
+ - 9 PWM outputs
+
+## Pinout
+
+![KakuteH7 Board](Kakkute_H7_Board_Top__Bottom2.jpg "KakuteH7")
+![KakuteH7 Board](Kakkute_H7_Board_Top__Bottom3.jpg "KakuteH7")
+![KakuteH7 Board](Kakkute_H7_Board_Top__Bottom4.jpg "KakuteH7")
+
+## 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 (Telem1)
+ - SERIAL2 -> UART2 (Telem2)
+ - SERIAL3 -> UART3 (GPS)
+ - SERIAL4 -> UART4
+ - SERIAL5 -> not available
+ - SERIAL6 -> UART6
+ - SERIAL7 -> UART7
+ - SERIAL7 -> USB2
+
+## RC Input
+
+RC input is configured on the R6 (UART6_RX) pin. It supports all RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should set BRD_ALT_CONFIG=1 and setup
+SERIAL6 as an RC input serial port, with half-duplex, pin-swap
+and inversion enabled.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+ 
+  - SERIAL6_PROTOCOL 10
+  - SERIAL6_OPTIONS 7
+  
+## OSD Support
+
+The KakuteH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The KakuteH7 supports up to 9 PWM outputs. The pads for motor output
+M1 to M8 on the two motor connectors, plus M9 for LED strip or another
+PWM output.
+
+The PWM is in 5 groups:
+
+ - PWM 1, 2 in group1
+ - PWM 3, 4 in group2
+ - PWM 5, 6 in group3
+ - PWM 7, 8 in group4
+ - PWM 9 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.
+
+## 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 10.1
+ - BATT_AMP_PERVLT 17.0
+
+## Compass
+
+The KakuteH7 does not have a builting compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## 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/KakuteH7/defaults.parm

@@ -0,0 +1,3 @@
+# setup for LEDs on chan9
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257

libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef-bl.dat

@@ -0,0 +1,48 @@
+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteH7 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1048
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# reserve space for flash storage in last 2 sectors
+FLASH_RESERVE_END_KB 256
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PC13 BUZZER OUTPUT LOW PULLDOWN
+
+PC2 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PE4 IMU_CS CS
+PA4 SDCARD_CS CS
+PB12 SPARE_CS CS

libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat

@@ -0,0 +1,159 @@
+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteH7 hardware.
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1048
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# leave 1 sectors free
+FLASH_RESERVE_START_KB 128
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+define STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
+# one I2C bus
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 OTG2
+
+# buzzer
+PC13 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for SDCard
+PA4 SDCARD_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+PA3 SDCARD_DETECT INPUT
+
+# 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
+
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PA8 VBUS INPUT
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 8
+
+PC2 LED0 OUTPUT LOW
+
+# USART1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (GPS)
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# UART4 (GPS2)
+PD0 UART4_RX UART4 NODMA
+PD1 UART4_TX UART4 NODMA
+
+# RC input defaults to timer capture
+PC7 TIM3_CH2 TIM3 RCININT PULLDOWN
+
+# alternative config using USART for protocols
+# like FPort
+PC7 USART6_RX USART6 NODMA ALT(1)
+PC6 USART6_TX USART6 NODMA
+
+# UART7 USED BY ESC FROM ORIGINAL DESIGN
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# Motors
+PB0  TIM1_CH2N TIM1 PWM(1) GPIO(50)
+PB1  TIM1_CH3N TIM1 PWM(2) GPIO(51)
+PB3  TIM2_CH2  TIM2 PWM(3) GPIO(52)
+PB10 TIM2_CH3  TIM2 PWM(4) GPIO(53)
+PA0  TIM5_CH1  TIM5 PWM(5) GPIO(54)
+PA2  TIM5_CH3  TIM5 PWM(6) GPIO(55)
+PC8  TIM8_CH3  TIM8 PWM(7) GPIO(56)
+PC9  TIM8_CH4  TIM8 PWM(8) GPIO(57)
+
+# LED strip
+PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
+
+DMA_PRIORITY TIM1* TIM2* TIM5* TIM3* SPI4* SPI1*
+DMA_NOSHARE SPI1*
+
+# spi devices
+SPIDEV icm20689 SPI4 DEVID1 ICM20689_CS MODE3  1*MHZ  4*MHZ
+SPIDEV sdcard   SPI1 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ
+SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# one IMU
+IMU Invensense SPI:icm20689 ROTATION_YAW_180
+
+# one BARO
+BARO BMP280 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# setup for OSD
+define OSD_ENABLED 1
+define OSD_PARAM_ENABLED 0
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+define STM32_PWM_USE_ADVANCED TRUE