AP_HAL_ChibiOS: hwdef for MambaH743v4

support BMI270 on MambaH743v4 and increase flash SPI clock
add bi-directional dshot to MambaH743
add README and pinout for MambaH743

libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md

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+# MambaH743v4 Flight Controller
+
+The MambaH743v4 is a flight controller produced by [Diatone](https://www.diatoneusa.com/).
+
+## Features
+
+ - MCU - STM32H743 32-bit processor running at 480 MHz
+ - IMU - Dual MPU6000 (Version A) or BMI270 (Version B)
+ - Barometer - DPS280
+ - OSD - AT7456E
+ - Onboard Flash: 1GBit
+ - 8x UARTs
+ - 9x PWM Outputs (8 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 3.3V 0.5A
+ - BEC 5V 3A
+ - BEC 5V 3A
+ - BEC 9V 3A
+
+## Pinout
+
+![MambaH743v4 Board](MambaH743v4_Board.jpg "MambaH743v4")
+
+## 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 (RX/SBUS, DMA-enabled)
+ - SERIAL2 -> UART2
+ - SERIAL3 -> UART3
+ - SERIAL4 -> UART4 (GPS, DMA-enabled)
+ - SERIAL5 -> UART5 (SPort)
+ - SERIAL6 -> UART6 (ESC Telemetry)
+ - SERIAL7 -> UART7 (GPS, DMA-enabled)
+
+## RC Input
+
+RC input is configured on the R1 (UART1_RX) pin. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup SERIAL6 as an RC input serial port,
+with half-duplex, pin-swap and inversion enabled.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T5 pin (UART5 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+ 
+  - SERIAL5_PROTOCOL 10
+  - SERIAL5_OPTIONS 7
+  
+## OSD Support
+
+The MambaH743v4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The MambaH743v4 supports up to 9 PWM outputs. The pads for motor output
+M1 to M8 are provided on both the motor connectors and on separate pads, plus
+M9 on a separate pad for LED strip or another PWM output.
+
+The PWM is in 4 groups:
+
+ - PWM 1-4 in group1
+ - PWM 5,6 in group2
+ - PWM 7,8 in group3
+ - PWM 9   in group4
+
+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 1-8 support bi-directional dshot.
+
+## Battery Monitoring
+
+The board has a builting 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 11
+ - BATT_CURR_PIN 13
+ - BATT_VOLT_MULT 11.1
+ - BATT_AMP_PERVLT 64
+
+## Compass
+
+The MambaH743v4 does not have a builtin compass, but you can attach an external compass 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/MambaH743v4/defaults.parm

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+# setup for LEDs on chan9
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257

libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Diatone MambaH743 mk4 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1073
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 384
+
+STORAGE_FLASH_PAGE 1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PE3 BUZZER OUTPUT LOW PULLDOWN
+
+PE5 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PA15 FLASH_CS CS
+PB12 MAX7456_CS CS
+PA4  MPU6000_CS CS
+PE11 MPU6000_2_CS CS

libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Diatone MambaH743 mk4 hardware.
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1073
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+MCU_CLOCKRATE_MHZ 480
+
+FLASH_SIZE_KB 2048
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# leave 1 sectors free
+FLASH_RESERVE_START_KB 384
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 1
+define HAL_STORAGE_SIZE 32768
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# one I2C bus
+I2C_ORDER I2C1 I2C2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
+
+# buzzer
+PE3 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+define HAL_PWM_ALT_ALARM
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for BMI270 / MPU6000
+PA4 MPU6000_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 for flash
+PA15 FLASH_CS CS
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PB2  SPI3_MOSI SPI3
+
+# SPI4 for MPU6000_2
+PE11 MPU6000_2_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# I2C1 for baro
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2 for baro
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 11
+define HAL_BATT_CURR_PIN 13
+define HAL_BATT_VOLT_SCALE 11.1
+define HAL_BATT_CURR_SCALE 64
+
+PC2 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 12
+
+PE5 LED0 OUTPUT LOW GPIO(90) # blue
+PE4 LED1 OUTPUT LOW GPIO(91) # orange
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# USART1 (RX / SBUS)
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2
+PD5 USART2_TX USART2 NODMA
+PD6 USART2_RX USART2 NODMA
+
+# USART3 (VTX)
+PD8 USART3_TX USART3 NODMA
+PD9 USART3_RX USART3 NODMA
+
+# UART4 (GPS)
+PD1 UART4_TX UART4
+PD0 UART4_RX UART4
+
+# UART5 (SPORT)
+PC12 UART5_TX UART5 NODMA
+PD2  UART5_RX UART5 NODMA
+
+# USART6 (ESC Telemetry)
+PC6 USART6_TX USART6 NODMA
+PC7 USART6_RX USART6 NODMA
+
+# UART7 (GPS)
+PE8 UART7_TX UART7
+PE7 UART7_RX UART7
+
+PE1 UART8_TX UART8 NODMA
+PE0 UART8_RX UART8 NODMA
+
+define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
+define HAL_SERIAL1_BAUD 115
+define HAL_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
+define HAL_SERIAL6_BAUD 115
+
+# Motors
+PA0  TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
+PA1  TIM5_CH2 TIM5 PWM(2) GPIO(51)
+PA2  TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
+PA3  TIM5_CH4 TIM5 PWM(4) GPIO(53)
+PB0  TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR
+PB1  TIM3_CH4 TIM3 PWM(6) GPIO(55)
+PC8  TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
+PC9  TIM8_CH4 TIM8 PWM(8) GPIO(57)
+
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# LED strip
+PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58)
+
+DMA_NOSHARE SPI3* SPI1*
+
+# spi devices
+SPIDEV mpu6000   SPI1 DEVID1 MPU6000_CS   MODE3   1*MHZ   4*MHZ
+SPIDEV bmi270    SPI1 DEVID2 MPU6000_CS   MODE3   1*MHZ   4*MHZ
+SPIDEV mpu6000_2 SPI4 DEVID4 MPU6000_2_CS MODE3   1*MHZ   4*MHZ
+SPIDEV dataflash SPI3 DEVID1 FLASH_CS     MODE3 104*MHZ 104*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_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# Two MPU6000s or one BMI270
+IMU Invensense SPI:mpu6000 ROTATION_YAW_90
+IMU Invensense SPI:mpu6000_2 ROTATION_YAW_180
+IMU BMI270 SPI:bmi270 ROTATION_PITCH_180
+
+define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV
+
+# one BARO
+BARO DPS280 I2C:0:0x76
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+define STM32_PWM_USE_ADVANCED TRUE