HAL_ChibiOS: baro and FRAM working for fmuv5

libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat

@@ -1,7 +1,8 @@
 # hw definition file for processing by chibios_hwdef.py
 # for FMUv3 hardware (ie. for CUAV-PixHack-v5 and Pixhawk4)
 
-# MCU class and specific type
+# MCU class and specific type. It is a F765, which is the same as F767
+# but without the TFT interface
 MCU STM32F7xx STM32F767xx
 
 # crystal frequency
@@ -39,14 +40,68 @@ PA12 OTG_FS_DP OTG1
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-define HAL_USE_EMPTY_STORAGE 1
+# SPI1 - internal sensors
+PG11 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI2 - FRAM
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+
+# SPI4 - sensors2
+PE2 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# SPI5 - external1
+PF7 SPI5_SCK SPI5
+PF8 SPI5_MISO SPI5
+PF9 SPI5_MOSI SPI5
+
+# SPI6 - external2
+PG13 SPI6_SCK SPI6
+PG12 SPI6_MISO SPI6
+PB5 SPI6_MOSI SPI6
+
+# sensor CS
+PF10 MS5611_CS CS
+PF2  ICM20689_CS CS
+PF3  ICM20602_CS CS
+PF4  BMI055_G_CS CS
+PG10 BMI055_A_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW
+
+# enable pins
+PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
+PF12 nVDD_5V_HIPOWER_EN OUTPUT LOW
+PG4  nVDD_5V_PERIPH_EN OUTPUT LOW
+PG5  VDD_5V_RC_EN OUTPUT HIGH
+PG6  VDD_5V_WIFI_EN OUTPUT HIGH
+PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
+SPIDEV mpu6000        SPI1 DEVID1  ICM20689_CS  MODE3  1*MHZ  1*MHZ
+SPIDEV mpu60002       SPI1 DEVID2  ICM20602_CS  MODE3  1*MHZ  1*MHZ
+SPIDEV bmi055_g       SPI1 DEVID3  BMI055_G_CS  MODE3  8*MHZ  8*MHZ
+SPIDEV bmi055_a       SPI1 DEVID4  BMI055_A_CS  MODE3  8*MHZ  8*MHZ
+SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 
+
+# enable RAMTROM parameter storage
 define HAL_STORAGE_SIZE 16384
+define HAL_WITH_RAMTRON 1
+
+define STORAGE_FLASH_PAGE 7
+
+define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
+define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
 
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
-define HAL_INS_DEFAULT HAL_INS_NONE
-define HAL_BARO_DEFAULT HAL_BARO_NONE
 
 define CH_DBG_ENABLE_ASSERTS TRUE
 define CH_DBG_ENABLE_CHECKS TRUE
 define CH_DBG_SYSTEM_STATE_CHECK TRUE
 define CH_DBG_ENABLE_STACK_CHECK TRUE
+
+define HAL_SPI_CHECK_CLOCK_FREQ 1