hwdef: Add AEROFOX H7

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

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+# AEROFOX-H7 Flight Controller
+
+The AEROFOX-H7 is a flight controller produced by AEROFOX(http://aerofox.cn)
+
+<img src="AEROFOX-H7_IMG.png" alt="" width="400">
+
+## Features
+    Processor
+        STM32H743
+
+    Sensors
+        ADIS16470 (appears in the advanced version)
+        ICM45686 (appears in the advanced version)
+        ICM42688
+        QMC5883L
+        SPL06-001
+
+    Power
+        2S-12S (MAX60V) Lipo input voltage
+        5V BEC for system power supply( 5V peripheral current limit 1.2A)
+        5V/12V BEC for VTX( Current limit 2.5A, need strong heat dissipation)
+        Dual power automatic switching and condition monitoring
+        
+    Interfaces
+        16x PWM output
+        7x UARTs for RC, TELEM, GPS and other peripherals
+        2x I2C ports for external compass, airspeed, baro
+        2x CAN port
+        4x Relay output
+        4x ADC input
+
+    FPC connector
+        The connector includes an SPI, an I2C, an PWM IMU heating control pin.
+
+## Pinout
+<img src="AEROFOX-H7_pinout.png" alt="" width="800">
+
+## UART Mapping
+
+All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below:
+- SERIAL0 -> USB (MAVLink2)
+- SERIAL1 -> UART7 (ESC Telemetry)
+- SERIAL2 -> UART4 (User configured)
+- SERIAL3 -> UART5 (User configured)
+- SERIAL4 -> USART2 (User configured)
+- SERIAL5 -> USART1 (GPS)
+- SERIAL6 -> UART8 (RCIN)
+- SERIAL7 -> USART3 (MAVLink2)
+
+## RC Input
+
+SERIAL 6 is configured for RC input by default and is compatible with all ArduPilot supported protocols except PPM. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set SERAIL6_OPTIONS = 4 (Half-Duplex)
+
+## PWM Output
+
+The AEROFOXH7 support up to 16PWM outputs. All pins support DShot. Outputs 1-8 support bi-directional DShot.
+
+The 16 PWM outputs are in 9 groups:
+
+- PWM 1,2 in group1
+- PWM 3,4  in group2
+- PWM 5,6  in group3
+- PWM 7,8 in group4
+- PWM 9,10  in group5
+- PWM 11  in group6
+- PWM 12 in group7
+- PWM 13,14 in group8
+- PWM 15,16 in group9
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The voltage sensor can handle up
+to 12S LiPo batteries.
+
+### The power A is onboard voltage sensor
+It is enabled by default and has the following parameters set by default:s
+- BATT_MONITOR 4
+- BATT_VOLT_PIN 19
+- BATT_CURR_PIN 9
+- BATT_VOLT_MULT 21
+- BATT_AMP_PERVL 40
+
+### The power B is external PMU input
+An additional power monitor input is provided and can be enabled by setting:
+- BATT_MONITOR 4, then reboot and set the following:
+- BATT_VOLT_PIN 10
+- BATT_CURR_PIN 11
+- BATT_VOLT_MULT 34
+- BATT_AMP_PERVLT should be set as required by the specific monitor used
+
+## Compass
+
+A 5883L compass is installed inside the H7 flight control. When high current devices such as ESC and BEC are installed under the flight control board, the on-board compass is usually disabled and an external compass used mounted to minimize motor current effects.
+
+## Loading Firmware
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the
+loading of *.apj firmware files with any ArduPilot compatible ground station. The
+hardware also supports the PX4 Betaflight INAV firmware, which needs to be changed with STlink.
+

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef-bl.dat

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+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AEROFOX_H7
+
+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 LED pins
+PE14 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # red
+PE12 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # green
+PE13 LED_RED OUTPUT OPENDRAIN HIGH # blue
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+# UART1 is debug
+PA9 USART1_TX USART1 NODMA
+PA10 USART1_RX USART1 NODMA
+
+PC13 VDD_3V3_SENSORS_EN OUTPUT LOW OPENDRAIN
+PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH OPENDRAIN
+PE8 nVDD_12V_PERIPH_EN OUTPUT LOW OPENDRAIN
+
+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 32768
+define HAL_LED_ON 1
+
+# define BOOTLOADER_DEBUG SD7
+
+# Add CS pins to ensure they are high in bootloader
+PD7  16470_CS     CS
+PD4  42688_1_CS  CS
+PC15 42688_2_CS  CS
+
+PD10 FRAM_CS   CS SPEED_VERYLOW
+PC14 FLASH_CS CS

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

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+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AEROFOX_H7
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 128
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# supports upto 8MBits/s
+CANFD_SUPPORTED 8
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+# system timer
+STM32_ST_USE_TIMER 5
+
+# UART
+SERIAL_ORDER OTG1 UART7 UART4 UART5 USART2 USART1 UART8 USART3 OTG2
+
+#serial1
+PA15 UART7_TX UART7
+PA8 UART7_RX UART7
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_ESCTelemetry
+
+# serial2
+PC10 UART4_TX UART4
+PC11 UART4_RX UART4
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
+
+# serial3
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
+
+# serial4
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
+
+# serial5
+PA9 USART1_TX USART1 NODMA
+PA10 USART1_RX USART1 NODMA
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS
+
+# serial6
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+
+# serial7
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
+
+# default the 2nd interface to MAVLink2
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# CAN
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# I2C
+I2C_ORDER I2C1 I2C2
+
+PB6  I2C1_SCL I2C1
+PB7  I2C1_SDA I2C1
+
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# SPI
+PB3 SPI1_SCK   SPI1
+PB4 SPI1_MISO  SPI1
+PB5 SPI1_MOSI  SPI1
+
+PD3 SPI2_SCK  SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+
+PE2 SPI4_SCK   SPI4
+PE5 SPI4_MISO  SPI4
+PE6 SPI4_MOSI  SPI4
+
+# IMU
+IMU ADIS1647x    SPI:16470    ROTATION_PITCH_180 ADIS_DRDY_PIN
+IMU Invensensev3 SPI:42688_1  ROTATION_NONE
+IMU Invensensev3 SPI:42688_2  ROTATION_PITCH_180_YAW_270
+
+SPIDEV 16470           SPI1 DEVID1  16470_CS        MODE3  1*MHZ  2*MHZ
+SPIDEV 42688_1        SPI1 DEVID2  42688_1_CS     MODE3  2*MHZ  16*MHZ
+SPIDEV 42688_2        SPI4 DEVID3  42688_2_CS     MODE3  2*MHZ  16*MHZ
+
+SPIDEV ramtron        SPI2 DEVID1  FRAM_CS        MODE3  8*MHZ  8*MHZ
+SPIDEV sdcard          SPI2 DEVID2  FLASH_CS       MODE0   1*MHZ    8*MHZ
+
+PD7  16470_CS     CS
+PD4  42688_1_CS  CS
+PC15 42688_2_CS  CS
+
+PD10 FRAM_CS   CS SPEED_VERYLOW
+PC14 FLASH_CS CS
+
+PE7 DRDY1_ADIS16470 INPUT GPIO(90)
+define ADIS_DRDY_PIN 90
+
+# ADC
+PA5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PB0 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+PB1 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+
+# GPIO
+PA0    TIM2_CH1 TIM2 PWM(1)  GPIO(50) BIDIR
+PA1    TIM2_CH2 TIM2 PWM(2)  GPIO(51)
+PE9     TIM1_CH1 TIM1 PWM(3)  GPIO(52) BIDIR
+PE11   TIM1_CH2 TIM1 PWM(4)  GPIO(53)
+PD12  TIM4_CH1 TIM4 PWM(5)  GPIO(54) BIDIR
+PD13  TIM4_CH2 TIM4 PWM(6)  GPIO(55)
+PC6    TIM3_CH1 TIM3 PWM(7)  GPIO(56) BIDIR
+PC7    TIM3_CH2 TIM3 PWM(8)  GPIO(57)
+
+PA2    TIM15_CH1    TIM15 PWM(9)  GPIO(58)
+PA3    TIM15_CH2    TIM15 PWM(10) GPIO(59)
+PA7    TIM14_CH1   TIM14 PWM(11) GPIO(60)
+PA6    TIM13_CH1   TIM13 PWM(12) GPIO(61)
+PC9  TIM8_CH4     TIM8 PWM(13) GPIO(62)
+PC8  TIM8_CH3     TIM8 PWM(14) GPIO(63)
+PB15    TIM12_CH2     TIM12 PWM(15) GPIO(64)
+PB14    TIM12_CH1     TIM12 PWM(16) GPIO(65)
+
+PB9 TIM17_CH1 TIM17  ALARM
+
+PE3 EXTERN_GPIO1 OUTPUT GPIO(1)
+PE4 EXTERN_GPIO2 OUTPUT GPIO(2)
+PD11 EXTERN_GPIO3 OUTPUT GPIO(3)
+#PD14 EXTERN_GPIO4 OUTPUT GPIO(4)
+
+PD14 LED_SAFETY OUTPUT
+PD15 SAFETY_IN INPUT PULLDOWN
+
+PC13 VDD_3V3_SENSORS_EN OUTPUT LOW OPENDRAIN
+PC4 nVDD_5V_PERIPH_EN OUTPUT LOW OPENDRAIN
+PE8 nVDD_12V_PERIPH_EN OUTPUT HIGH OPENDRAIN
+
+PE10 VDD_5V_HIPOWER_oOC INPUT PULLUP
+PC5 VDD_BRICK_nVALID INPUT PULLUP
+
+# I2C BMP280 or SPL06
+BARO SPL06 I2C:0:0x76
+BARO BMP280 I2C:0:0x76
+
+# COMPASS
+COMPASS QMC5883L I2C:0:0x0D false ROTATION_NONE
+
+# LED setup is similar to PixRacer
+
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+PE14 LED_RED OUTPUT GPIO(10)
+PE12 LED_GREEN OUTPUT GPIO(11)
+PE13 LED_BLUE OUTPUT GPIO(12)
+
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 10
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 11
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12
+
+
+# IMU heater
+PB8 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 35
+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
+
+# compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_CHIBIOS_ARCH_FMUV3 1
+
+define BOARD_TYPE_DEFAULT 3
+
+# safety switch
+define HAL_HAVE_SAFETY_SWITCH 1
+
+# FRAM
+define HAL_WITH_RAMTRON 1
+define HAL_STORAGE_SIZE 32768
+
+# open all IMUs
+define HAL_EKF_IMU_MASK_DEFAULT 7
+
+# IMU fast sample
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# Enable FAT
+define HAL_OS_FATFS_IO 1
+
+# DMA
+DMA_NOSHARE SPI2* UART2* UART4* UART5*
+
+ENABLE_DFU_BOOT 1
+
+define HAL_BATT_MONITOR 4 
+define HAL_BATT_VOLT_PIN 19 
+define HAL_BATT_CURR_PIN 9 
+define HAL_BATT_VOLT_SCALE 21 
+define HAL_BATT_CURR_SCALE 40 
+
+define HAL_BATT2_VOLT_PIN 10 
+define HAL_BATT2_CURR_PIN 11 
+define HAL_BATT2_VOLT_SCALE 34 
+define HAL_BATT2_CURR_SCALE 40