AP_HAL_ChibiOS: hwdef for Foxeer Reaper F745v2.

README for Reaper F745v2

libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/README.md

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+# Foxeer ReaperF745v2 Flight Controller
+
+The ReaperF745v2 is a flight controller produced by [Foxeer](https://www.foxeer.com/).
+
+## Features
+
+ - MCU - STM32F745 32-bit processor
+ - IMU - BMI270
+ - OSD - AT7456E
+ - Onboard Flash: 128MBit
+ - 5x UARTs
+ - 5x PWM Outputs (4 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - Integrated 45A BlueJay ESCs
+
+## Pinout
+
+![ReaperF745v2 Board](ReaperF745v2_Board.jpg "ReaperF745v2")
+
+## 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 (DJI RCIN)
+ - SERIAL2 -> UART2 (RX, DMA-enabled)
+ - SERIAL3 -> UART3
+ - SERIAL4 -> UART4 (Camera)
+ - SERIAL7 -> UART7 (GPS, DMA-enabled)
+
+## RC Input
+
+RC input is configured on the R2 (UART2_RX) pin. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup the TX PIN 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
+ 
+  - SERIAL5_PROTOCOL 10
+  - SERIAL5_OPTIONS 7
+  
+## OSD Support
+
+The ReaperF745v2 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The ReaperF745v2 supports up to 5 PWM outputs. There are no pads for motor output
+M1 to M4 as these are connected directly to the onboard ESCs. M5 is on a separate pad for LED strip or another PWM output.
+
+The PWM is in 2 groups:
+
+ - PWM 1-4 in group1
+ - PWM 5   in group2
+
+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 and this is configured by
+default to take advantage of the BlueJay ESC firmware that is installed by default.
+
+## Battery Monitoring
+
+The board has a builtin 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 13
+ - BATT_CURR_PIN 12
+ - BATT_VOLT_MULT 10.9
+ - BATT_AMP_PERVLT 100
+
+## Compass
+
+The ReaperF745v2 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Barometer
+
+The ReaperF745v2 does not have a builtin barometer, but you can attach an external barometer 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/ReaperF745v2/defaults.parm

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+# setup for LEDs on chan5
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
+# setup SERIAL3 for RCIN
+SERIAL2_BAUD 115
+# Board has BlueJay by default
+SERVO_BLH_BDMASK 15
+SERVO_BLH_AUTO 1
+SERVO_BLH_TRATE 0
+MOT_PWM_TYPE 6

libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Foxeer Reaper AIO V2 F745
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1074
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 96
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 USART1
+
+# USART1
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PC13 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PA4 AT7456E_CS CS
+PA15 BMI270_CS CS
+PE4 FLASH_CS CS

libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Foxeer Reaper AIO V2 F745
+
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1074
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 96
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# 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
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# Debug
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for OSD
+PA4 AT7456E_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2
+#PA15 FLASH_CS CS
+#PB13 SPI2_SCK SPI2
+#PB14 SPI2_MISO SPI2
+#PB15 SPI2_MOSI SPI2
+
+# SPI3 for Gyro
+PA15 BMI270_CS CS
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# SPI4 for Flash
+PE4 FLASH_CS CS
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# I2C1 for baro
+PB8 I2C1_SCL I2C1 PULLUP
+PB9 I2C1_SDA I2C1 PULLUP
+
+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 10.9
+define HAL_BATT_CURR_SCALE 100
+define HAL_BATT_MONITOR_DEFAULT 4
+
+PC5 RSSI_ADC ADC1
+
+# USART1 (DJI RCIN)
+PA10 USART1_RX USART1 NODMA
+
+# USART2 (RX)
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# USART3
+PB10 USART3_TX USART3 NODMA
+PB11 USART3_RX USART3 NODMA
+
+# UART4 (Camera)
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+
+# UART7 (GPS)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# Motors
+PB4  TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR    # 1
+PB5  TIM3_CH2 TIM3 PWM(2) GPIO(51)          # 2
+PB1  TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR    # 3
+PB0  TIM3_CH3 TIM3 PWM(4) GPIO(53)          # 4
+
+# NeoPixel LED strip
+PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54)
+PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED
+
+DMA_PRIORITY USART2* TIM3* TIM1*
+
+define HAL_STORAGE_SIZE 16384
+STORAGE_FLASH_PAGE 1
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# spi devices
+SPIDEV bmi270    SPI3 DEVID1 BMI270_CS  MODE3  1*MHZ  4*MHZ
+SPIDEV dataflash SPI4 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
+SPIDEV osd       SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
+
+# no built-in compass and no external I2C so no compass
+define ALLOW_ARM_NO_COMPASS
+define HAL_I2C_INTERNAL_MASK 0
+
+# one IMU bmi270
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# no BARO
+define HAL_BARO_ALLOW_INIT_NO_BARO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+# save some flash
+define HAL_GENERATOR_ENABLED 0
+define AC_OAPATHPLANNER_ENABLED 0
+define PRECISION_LANDING 0
+define HAL_BARO_WIND_COMP_ENABLED 0
+define GRIPPER_ENABLED 0
+define HAL_PARACHUTE_ENABLED 0
+define HAL_SPRAYER_ENABLED 0
+define AP_BATTMON_SMBUS_ENABLE 0
+define AP_BATTMON_FUEL_ENABLE 0
+define AP_OPTICALFLOW_ENABLED 0