HAL_ChibiOS: first boot of OMNIBUSF7V2

only the 20608 works, and it has lots of errors.
The bmp280 is detected, but does not give good data
no UARTs yet

libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat

@@ -10,10 +10,21 @@ define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2
 # board ID for firmware load
 APJ_BOARD_ID 81
 
-# crystal frequency
-OSCILLATOR_HZ 25000000
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+define STM32_LSECLK   32768U
+define STM32_LSEDRV   (3U << 3U)
+
+define STM32_PLLSRC     STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 8
+define STM32_PLLN_VALUE 432
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
 
 FLASH_SIZE_KB 1024
+
+# run without a bootloader for now, use DFU upload
 FLASH_RESERVE_START_KB 0
 
 # board voltage
@@ -35,9 +46,13 @@ PA14 JTCK-SWCLK SWD
 PE0 LED0 OUTPUT LOW
 #PD15 BUZZER OUTPUT
 
+# ICM-20608 on SPI1
 PA4 MPU6000_CS CS
 
-# SPI1 for IMU
+# MPU6500 on SPI3
+PA15 MPU6500_CS CS
+
+# SPI1 for IMU and baro
 PA5 SPI1_SCK SPI1
 PA6 SPI1_MISO SPI1
 PA7 SPI1_MOSI SPI1
@@ -111,3 +126,10 @@ define HAL_USE_EMPTY_STORAGE
 
 define HAL_STORAGE_SIZE 16384
 define STORAGE_FLASH_PAGE 1
+
+# spi devices
+SPIDEV bmp280  SPI1 DEVID1 BMP280_CS MODE3  20*MHZ 20*MHZ
+SPIDEV mpu6000 SPI1 DEVID2 MPU6000_CS MODE3  1*MHZ  4*MHZ
+SPIDEV mpu6500 SPI3 DEVID1 MPU6500_CS MODE3  1*MHZ  4*MHZ
+
+define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI