HAL_ChibiOS: added MatekH743 port

libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Matek H743-WING bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1013
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# reserve space for flash storage in last 2 sectors
+FLASH_RESERVE_END_KB 256
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+UART_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PD4 MS5611_CS CS
+PE11 IMU2_CS CS

libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Matek H743-WING
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1013
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+env OPTIMIZE -O2
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# board voltage
+STM32_VDD 330U
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for IMU1 (MPU6000)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC15 IMU1_CS CS
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 for MS5611
+PD4 MS5611_CS CS
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# SPI4 for IMU2 (ICM20602)
+PE11 IMU2_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# two I2C bus
+I2C_ORDER I2C1 I2C2
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_VOLT_PIN 18
+define HAL_BATT2_CURR_PIN 7
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_CURR_SCALE 40.0
+define HAL_BATT2_VOLT_SCALE 11.0
+
+PC4 PRESSURE_SENS ADC1 SCALE(2)
+define HAL_DEFAULT_AIRSPEED_PIN 4
+
+PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 8
+
+# LED
+# green LED1 marked as B/E
+# blue LED0 marked as ACT
+PE3 LED0 OUTPUT LOW GPIO(90) # blue
+PE4 LED1 OUTPUT LOW GPIO(91) # green
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART2 UART7 USART1 USART3 UART8 UART4 USART6
+
+# USART1 (telem2)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2 (GPS1)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (GPS2)
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART4 (spare)
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+
+# USART6 (RC input), SERIAL7
+PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW
+PC6 USART6_TX USART6 NODMA
+
+# as an alternative config setup the RX6 pin as a uart. This allows
+# for bi-directional UART based receiver protocols such as FPort
+# without any extra hardware
+PC7 USART6_RX USART6 NODMA ALT(1)
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9  UART7_RTS UART7
+
+# UART8 (spare)
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# Motors
+PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
+PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
+PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
+PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
+PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
+PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
+
+# Beeper
+PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# GPIOs
+PD10  PINIO1 OUTPUT GPIO(81) LOW
+PD11  PINIO2 OUTPUT GPIO(82) LOW
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 16384
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+define STORAGE_FLASH_PAGE 14
+
+# spi devices
+SPIDEV ms5611    SPI3 DEVID1 MS5611_CS    MODE3 20*MHZ 20*MHZ
+SPIDEV mpu6000  SPI1 DEVID1 IMU1_CS MODE3  1*MHZ  4*MHZ
+SPIDEV icm20602  SPI4 DEVID1 IMU2_CS      MODE3  1*MHZ  4*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 1
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# two IMUs. We put icm20602 first as we can sample accel at 4kHz
+IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
+IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# one BARO
+BARO MS56XX SPI:ms5611
+
+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 HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+define BOARD_PWM_COUNT_DEFAULT 13
+
+