HAL_ChibiOS: Fix sparky2 target.

Correct pin mappings, ADC, PWM.

Not working
Flash memory, Logging, external i2c tested with NXP MAG3110.

libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat

@@ -4,15 +4,19 @@
 # MCU class and specific type
 MCU STM32F4xx STM32F405xx
 
-define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_SPARKY2
+RAM_SIZE_KB 128
+CCM_RAM_SIZE_KB 64
+
 
 # board ID for firmware load
-APJ_BOARD_ID 11
+APJ_BOARD_ID 70
 
 # crystal frequency
 OSCILLATOR_HZ 8000000
 STM32_PLLM_VALUE 8
 
+define STM32_ST_USE_TIMER 5
+
 FLASH_SIZE_KB 1024
 
 # board voltage
@@ -22,54 +26,119 @@ STM32_VDD 330U
 STDOUT_SERIAL SD1
 STDOUT_BAUDRATE 115200
 
+# --------LEDs-----------
+PB5 LED_BLUE OUTPUT LOW GPIO(0)
+PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
+PB4 LED_RED OUTPUT LOW GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# ---------I2C-------------
 # only one I2C bus
 I2C_ORDER I2C1
 
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# -------BARO-------------
+define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
+define HAL_BARO_MS5611_I2C_BUS 0
+define HAL_BARO_MS5611_I2C_ADDR 0x77
+
+# ---------USB-------------
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA8 VBUS INPUT OPENDRAIN
+
+# ---------UARTS-----------
 # order of UARTs (and USB)
-UART_ORDER OTG1 USART1
+UART_ORDER OTG1 USART1 USART3
+
+# Main PORT
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+# Flex PORT
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
 
-PA4 VDD_5V_SENS ADC1
+# -------RCIN-------------
-# spi bus for IMU
+# Soft Serial for serial RC & PPM
+PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW
+PC6 SBUS_INVERT OUTPUT
+
+# -------ADC-------------
+analog pins
+PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# define default battery setup No Voltage Divider
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_CURR_PIN 13
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+# -----CAN BUS-------------
+PB13 CAN2_TX CAN2
+PB12 CAN2_RX CAN2
+
+# -----spi bus for IMU-----
 PA5 SPI1_SCK SPI1
 PA6 SPI1_MISO SPI1
 PA7 SPI1_MOSI SPI1
+PC4 MPU_CS CS
+PC5 EXTI_MPU9250 INPUT PULLUP
 
-PA9 USART1_TX USART1
+# -----spi bus for FLASH-----
-PA10 USART1_RX USART1
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+PB3 FLASH_CS CS
 
+# -----USB & SWD-----------
 # PA10 IO-debug-console
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-PB8 I2C1_SCL I2C1
+# ----------PWM-----------
-PB9 I2C1_SDA I2C1
+PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
-
+PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
-PC4 MPU_CS CS
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
-
+PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)
-PC6 TIM8_CH1 TIM8 PWM(1)
+PA1 TIM2_CH2 TIM2 PWM(5) GPIO(54)
-PC7 TIM8_CH2 TIM8 PWM(2)
+PA0 TIM2_CH1 TIM2 PWM(6) GPIO(55)
-PC8 TIM8_CH3 TIM8 PWM(3)
+
-PC9 TIM8_CH4 TIM8 PWM(4)
+# Buffered PWM N-Fets----
-
+# Require inverter to use
-define HAL_STORAGE_SIZE 16384
+# as standard pwm
+# PC9 TIM8_CH4 TIM8 PWM(7)
+# PC8 TIM8_CH3 TIM8 PWM(8)
+# PB15 TIM8_CH3N TIM8 PWM(9)
+PB14 TIM1_CH2N TIM1 PWM(7) GPIO(35)
+
+define HAL_STORAGE_SIZE 8192
 define STORAGE_FLASH_PAGE 1
 
 FLASH_SIZE_KB 1024
 
 # reserve 16k for bootloader and 32k for flash storage
-FLASH_RESERVE_START_KB 48
+FLASH_RESERVE_START_KB 64
 
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
+define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
+define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
 
-define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
-define HAL_COMPASS_HMC5843_I2C_BUS 1
-define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
 
 # SPI devices
-SPIDEV mpu6000 SPI1 DEVID1  MPU_CS MODE3 1*MHZ 8*MHZ 
+SPIDEV mpu9250        SPI1 DEVID4  MPU_CS       MODE3  1*MHZ  4*MHZ
-
+SPIDEV dataflash      SPI3 DEVID1  FLASH_CS     MODE3  1*MHZ  8*MHZ
 
+define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_SPARKY2
 
+define STM32_PWM_USE_ADVANCED TRUE
 
+define BOARD_PWM_COUNT_DEFAULT 7