HAL_ChibiOS: added support for the new H7 luminousbee version 5

libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef-bl.dat

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+# LUMINOUS BEE 5.1
+# hw definition file for processing by chibios_hwdef.py
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1029
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# flash size
+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
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+define HAL_I2C_INTERNAL_MASK 0
+
+# order of UARTs (and USB) for bootloading
+SERIAL_ORDER OTG1 UART7
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# pins that USB is connected on.
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS lines
+PB4 UWB_CS CS
+PC2 BMI088_ACCEL_CS CS
+PC15 BMI088_GYRO_CS CS
+PD7 BARO_CS CS
+PE15 MAG_CS CS
+
+PB11 LED_BOOTLOADER  OUTPUT
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat

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+# LUMINOUS BEE 5.1
+# hw definition file for processing by chibios_hwdef.py
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1029
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 16384
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+define HAL_I2C_INTERNAL_MASK 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
+
+# UART4 is GPS
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# Battery & current control
+PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+
+# SPI1 is sensors bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# This is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN.
+PA9 VBUS INPUT #OPENDRAIN
+
+# Now we define the pins that USB is connected on.
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# PWM output for buzzer
+PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
+
+PB2 BOOT1 INPUT
+#PB5 VDD_BRICK_VALID INPUT
+PB5 VDD_BRICK_VALID INPUT PULLDOWN
+
+# USART1 TX  now as led strip control
+PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 
+# PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+
+# UWB DW1000
+PB4 UWB_CS CS
+
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# SPI2 is FRAM
+PB10 SPI2_SCK SPI2
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+#PC0 VBUS_VALID INPUT
+PC0 VBUS_VALID INPUT PULLDOWN
+
+#BMI088 CS
+PC2 BMI088_ACCEL_CS CS
+PC15 BMI088_GYRO_CS CS
+
+PC3 LED_SAFETY OUTPUT
+PC4 SAFETY_IN INPUT PULLDOWN
+PC5 VDD_PERIPH_EN OUTPUT HIGH
+PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW # also USART6_RX for serial RC
+
+# Now setup the pins for the microSD card, if available.
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+
+PC13 SBUS_INV OUTPUT
+
+
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# USART2 serial2 telem1
+
+
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+PD7 BARO_CS CS
+
+
+# USART3 serial3 telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
+
+# The CS pin for FRAM (ramtron). This one is marked as using
+# SPEED_VERYLOW, which matches the HAL_PX4 setup.
+PD10 FRAM_CS CS SPEED_VERYLOW
+
+
+PD15 20608_DRDY INPUT  # IMU Luminous Bee
+# UART8 serial4 FrSky
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+
+
+#set up SPI bus4 for UWB
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+
+PE3 VDD_SENSORS_EN OUTPUT HIGH
+PE4 SPEKTRUM_PWR OUTPUT HIGH
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)     #52
+PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)     #50
+PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
+PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+
+
+PE12 MAG_DRDY INPUT
+PE15 MAG_CS CS
+
+# SPI device table. The DEVID values are chosen to match the PX4 port
+# of ArduPilot so users don't need to re-do their accel and compass calibrations
+# when moving to ChibiOS
+# SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
+SPIDEV dps310      SPI2 DEVID3  BARO_CS           MODE3  5*MHZ  5*MHZ
+#SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
+SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
+SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
+SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
+SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define HAL_STORAGE_SIZE        16384
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+
+# fallback to flash is no FRAM fitted
+#define STORAGE_FLASH_PAGE 22
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC).
+define HAL_OS_FATFS_IO 1
+
+# pixracer has 3 LEDs, Red, Green, Blue
+define HAL_HAVE_PIXRACER_LED
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# LED setup for PixracerLED driver
+PB11 LED_RED   OUTPUT GPIO(0)
+PB1  LED_GREEN OUTPUT GPIO(1)
+PB3  LED_BLUE  OUTPUT GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# battery setup
+define HAL_BATT_VOLT_PIN 14
+define HAL_BATT_CURR_PIN 15
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+# setup serial port defaults for ESP8266
+define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
+define HAL_SERIAL5_BAUD 921600
+
+# 6 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 6
+
+
+# two IMUs
+#IMU Invensense SPI:icm20608 ROTATION_YAW_180
+IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# 2 compasses. R15 has LIS3MDL instead of HMC5843
+COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
+#COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
+#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
+
+# also probe all types of external I2C compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# TWO barometer
+BARO DPS280      SPI:dps310