AP_HAL: added FMUv4 port for ChibiOS

libraries/AP_HAL/AP_HAL_Boards.h

@@ -62,6 +62,7 @@
 /* HAL CHIBIOS sub-types, starting at 5000 */
 #define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412	5000
 #define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3         5001
+#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4         5002
 
 /* InertialSensor driver types */
 #define HAL_INS_MPU60XX_SPI  2

libraries/AP_HAL/board/chibios.h

@@ -73,6 +73,20 @@
 // enable FAT filesystem
 #define HAL_OS_FATFS_IO 1
 
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4
+#define HAL_CHIBIOS_ARCH_FMUV4 1
+
+#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+
+#define STORAGE_FLASH_PAGE		22
+#define HAL_STORAGE_SIZE        16384
+
+// enable RAMTROM parameter storage
+#define HAL_WITH_RAMTRON 1
+
+// enable FAT filesystem
+#define HAL_OS_FATFS_IO 1
+
 #endif // CONFIG_HAL_BOARD_SUBTYPE
 
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
@@ -84,3 +98,29 @@
 #ifndef HAL_WITH_RAMTRON
 #define HAL_WITH_RAMTRON 0
 #endif
+
+/* string names for well known SPI devices */
+#define HAL_BARO_MS5611_NAME "ms5611"
+#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
+#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
+
+#define HAL_INS_MPU60x0_NAME "mpu6000"
+#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
+
+#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
+#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
+
+#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
+#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
+
+#define HAL_INS_MPU9250_NAME "mpu9250"
+#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
+
+#define HAL_INS_MPU6500_NAME "mpu6500"
+
+#define HAL_INS_ICM20608_NAME "icm20608"
+#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
+#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
+
+#define HAL_COMPASS_HMC5843_NAME "hmc5843"
+#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"