HAL_ChibiOS: Added support for CUAV Nora flight controller

libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/defaults.parm

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+# setup the temperature compensation
+BRD_IMU_TARGTEMP 45
+
+# turn on the CAN power monitoring(default)
+CAN_P1_DRIVER 1
+BATT_MONITOR 8
+
+# setup the parameter for the ADC power module
+BATT_VOLT_PIN 16
+BATT_CURR_PIN 17
+BATT_VOLT_MULT 18.000
+BATT_AMP_PERVLT 24.000
+

libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for CUAV-Nora board
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1009
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+PD8 LED_RED OUTPUT OPENDRAIN HIGH # red
+PC7 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+PC6 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green 
+
+define HAL_LED_ON 0
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 UART7
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+define BOOTLOADER_DEBUG SD7
+

libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py for CUAV-Nora
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1009
+
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART1 USART2 USART6 UART4 UART8 UART7 OTG2
+
+# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# Port switching for USB HS and FS,high = USB_FS , LOW = USB_HS
+PH15 USB_HS_ENABLE OUTPUT HIGH
+define USB_HW_ENABLE_HS 0
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# 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
+PA7 SPI6_MOSI SPI6
+
+# sensor 
+
+PF10 ADIS16470_CS CS
+PF2  RM3100_CS  CS
+PG6  ICM20689_CS CS SPEED_VERYLOW
+PI12 ICM20649_CS CS SPEED_VERYLOW
+PF3  BMI088_A_CS CS
+PF4  BMI088_G_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW
+PG10 MS5611_IMU_CS CS
+PI8  MS5611_BOARD_CS CS
+
+# external CS pins, SPI5 connector
+PI4  EXT1_CS1 CS
+PI10 EXT1_CS2 CS
+PI6  EXT1_CS3 CS
+
+# I2C buses
+
+# I2C1 is on GPS port
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# I2C2 on GPS2 connector
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C3 for onboard mag
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4 is on BDMA on DMAMUX2
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C1 I2C2 I2C4
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# enable pins
+PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# start peripheral power off, then enable after init
+# this prevents a problem with radios that use RTS for
+# bootloader hold
+PD11 VDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  VDD_5V_PERIPH_EN OUTPUT HIGH
+
+PG5  VDD_5V_RC_EN OUTPUT HIGH
+PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# drdy pins
+PE7  DRDY1_ADIS16470 INPUT
+PH5  DRDY2_ICM20649 INPUT
+PB14 DRDY3_BMI088_GYRO1 INPUT
+PB15 DRDY4_BMI088_ACC1 INPUT
+PJ0  DRDY5_ICM20689 INPUT
+PC13 DRDY6_BMI088_GYRO2 INPUT
+PI14 DRDY7_BMI088_ACC2 INPUT
+PE4  DRDY8_RM3100 INPUT
+
+# UARTs
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART1 is GPS1
+PB7 USART1_RX USART1 NODMA
+PB6 USART1_TX USART1 NODMA
+
+# UART4 GPS2
+PD0 UART4_RX UART4 NODMA
+PD1 UART4_TX UART4 NODMA
+
+# USART6 is telem2
+PG9 USART6_RX USART6 
+PG14 USART6_TX USART6
+PG15 USART6_CTS USART6
+PG8 USART6_RTS USART6
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# SBUS, DSM port
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8 
+
+# PWM AUX channels
+PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50)
+PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
+PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52)
+PI0  TIM5_CH4 TIM5 PWM(4) GPIO(53)
+PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
+PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
+PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56)
+PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
+
+PE9  TIM1_CH1  TIM1  PWM(9)  GPIO(58)
+PE11 TIM1_CH2  TIM1  PWM(10) GPIO(59)
+PA10 TIM1_CH3  TIM1  PWM(11) GPIO(60)
+PE14 TIM1_CH4  TIM1  PWM(12) GPIO(61)
+PH6  TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
+PH9  TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
+
+# WS2812 LED
+PI5 TIM8_CH1 TIM8 PWM(15) GPIO(64)
+
+# allow for 15 PWMs by default
+define BOARD_PWM_COUNT_DEFAULT 15
+
+# PWM output for buzzer
+PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
+
+# RC input
+PB4 TIM3_CH1 TIM3 RCININT PULLUP LOW 
+
+# analog in
+PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# ADC3.3/ADC6.6
+PC4 SPARE1_ADC1 ADC1 SCALE(1)
+PA4 SPARE2_ADC1 ADC1 SCALE(1)
+
+PF12 RSSI_IN ADC1 SCALE(1)
+
+PC5 VDD_5V_SENS ADC1 SCALE(2)
+PC1 SCALED_V3V3 ADC1 SCALE(2)
+
+# CAN bus
+PI9  CAN1_RX CAN1
+PH13 CAN1_TX CAN1
+
+# 2nd CAN bus. Cannot be used at same time as USB_HS
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# control for silent (no output) for CAN
+PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+
+# GPIOs
+
+PA8 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+
+PG1  VDD_BRICK_VALID INPUT PULLUP
+PG2  VDD_BRICK2_VALID INPUT PULLUP
+PA9  VBUS INPUT
+PJ3  VDD_5V_HIPOWER_OC INPUT PULLUP
+PJ4  VDD_5V_PERIPH_OC INPUT PULLUP
+PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH
+
+# SPI devices
+SPIDEV rm3100         SPI1 DEVID1  RM3100_CS       MODE3  2*MHZ  8*MHZ
+SPIDEV icm20689       SPI1 DEVID2  ICM20689_CS     MODE3  2*MHZ  8*MHZ
+SPIDEV bmi088_a       SPI4 DEVID2  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV bmi088_g       SPI4 DEVID3  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV ms5611_imu     SPI4 DEVID1  MS5611_IMU_CS   MODE3  20*MHZ 20*MHZ
+SPIDEV ms5611_board   SPI6 DEVID1  MS5611_BOARD_CS MODE3  20*MHZ 20*MHZ
+SPIDEV icm20649       SPI6 DEVID2  ICM20649_CS     MODE3  2*MHZ  8*MHZ
+SPIDEV ramtron        SPI2 DEVID1  FRAM_CS         MODE3  8*MHZ  8*MHZ 
+
+# two baro
+BARO MS56XX SPI:ms5611_imu
+BARO MS56XX SPI:ms5611_board
+
+# three IMUs
+IMU Invensense   SPI:icm20689 ROTATION_NONE
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
+IMU Invensensev2 SPI:icm20649 ROTATION_NONE
+
+# compasses
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
+COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90
+
+COMPASS RM3100 SPI:rm3100 false ROTATION_NONE 
+ 
+
+# 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
+
+# red LED marked as B/E
+
+PD8 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PC6 LED_G1 OUTPUT OPENDRAIN LOW  GPIO(1)
+PC7 LED_B1 OUTPUT OPENDRAIN HIGH 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
+
+# use pixracer style 3-LED indicators
+define HAL_HAVE_PIXRACER_LED
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 16384
+define HAL_WITH_RAMTRON 1
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+PE12 LED_SAFETY OUTPUT
+PE10 SAFETY_IN INPUT PULLDOWN
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+DMA_PRIORITY  ADC* SPI1* TIM*UP*
+DMA_NOSHARE  SPI1* TIM*UP* 
+
+