AP_HAL_ChibiOS: add new target Stellar H7V2

libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/README.md

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+# StellarH7V2 Flight Controller
+
+https://stingbee.com.ua/flight_controllers/stellarh7v2
+
+
+## Features
+    Processor
+        STM32H743VIH6 480 MHz, 2MB flash
+    Sensors
+        ICM-42688p Acc/Gyro with external clock feature
+        DPS310/BMP280 barometer
+        AT7456E OSD
+        SD Card
+    Power
+        2S-8S Lipo input voltage with voltage monitoring
+        12V, 3A BEC for powering Video Transmitter
+        5V, 2A BEC for internal and peripherals
+    Interfaces
+        10x PWM outputs DShot capable, 4 outputs BDShot capable
+        7x UARTs
+        1x CAN
+        1x I2C
+        3x ADC
+        SD card for logging
+        USB-C port
+    LED
+        Red, 3.3V power indicator
+        Blue and Green, FC status
+    Size
+        41 x 41mm PCB with 30.5mm M3 mounting
+
+
+## Overview
+
+![StellarH7V2](Stellar_H7V2.png)
+
+![StellarH7V2](StellarH7V2.png)
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*. All UARTS are DMA capable.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (MAVLink2)
+ - SERIAL2 -> UART2 (MAVLink2)
+ - SERIAL3 -> UART3 (User)
+ - SERIAL4 -> UART4 (Serial RC input)
+ - SERIAL5 -> UART6 (GPS)
+ - SERIAL6 -> UART7 (DisplayPort)
+ - SERIAL7 -> UART8 (ESC Telemetry, RX8 pin only)
+
+## CAN and I2C
+
+StellarH7V2 supports 1x CAN bus and 1x I2C bus
+
+## RC Input
+
+The default RC input is configured on the UART4 RX4 input and can be used for all ArduPilot supported unidirectional receiver protocols. 
+* PPM is not supported.
+* SBUS/DSM/SRXL connects to the RX4 pin.
+* FPort requires connection to TX4 and :ref:`SERIAL4_OPTIONS<SERIAL4_OPTIONS>` set to "7". See :ref:`common-FPort-receivers`.
+* CRSF also requires a TX4 connection, in addition to RX4, and automatically provides telemetry.
+* SRXL2 requires a connection to TX4 and automatically provides telemetry. Set :ref:`SERIAL4_OPTIONS<SERIAL4_OPTIONS>` to “4”.
+
+
+## OSD Support
+
+StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). Simulatenous DisplayPort OSD operation  is preconfigured on SERIAL 6 but requires OSD_TYPE2 = 5. See :ref:`common-msp-osd-overview-4.2` for more info.
+
+## PWM Output
+
+StellarH7V2 supports up to 10 PWM outputs. PWM 1-4 outputs support DShot.
+
+All the channels support DShot. Channels 1-6 support bi-directional DShot. Channels 9 and 10 Marked as S5 and S6 on the board. PWM outputs are grouped and every group must use the same output protocol:
+* 1, 2        are Group 1;
+* 3, 4, 5, 6  are Group 2;
+* 7, 8, 9, 10 are Group 3;
+
+
+## Battery Monitoring
+
+The board has 1 built-in voltage dividers and 2x current ADC. support external 3.3V based current sensor
+
+The voltage input is compatible with 2~8S LiPo batteries.
+The default battery parameters are:
+* :ref:`BATT_MONITOR<BATT_MONITOR>` = 4
+* :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` = 10
+* :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` = 11 (CURR pin)
+* :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` = 11
+* :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` = 10
+* :ref:`BATT2_CURR_PIN<BATT2_CURR_PIN__AP_BattMonitor_Analog>` = 7 (ADC2 pin)
+
+
+## Compass
+
+StellarH7V2 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+
+## Loading Firmware
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled StellarH7V2.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "ardu*_with_bl.hex" firmware, using your favourite DFU loading tool. eg STM32CubeProgrammer
+
+Subsequently, you can update firmware with Mission Planner.
+
+
+## Camera Switch
+GPIO 81 controls which camera input (CAM1 or CAM2) is applied to the internal OSD. A RELAY function can be enabled to control the switching.

libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef-bl.dat

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+# hw definition file for Stellar H7V2 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_StellarH7V2
+
+# 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
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+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
+
+# make sure Vsw is on during bootloader
+PD10  PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15  IMU_CS CS
+PB12  MAX7456_CS CS
+PE11 FLASH_CS CS

libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/hwdef.dat

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+# hw definition file for Stellar H7V2
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_StellarH7V2
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+env OPTIMIZE -Os
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for icm42688
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC15 IMU1_CS CS
+
+# SPI2 for MAX7456
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+PB12 MAX7456_CS CS
+
+# SPI4 NAND W25M01G/2G Not supported yet
+# PE12 SPI4_SCK SPI4
+# PE13 SPI4_MISO SPI4
+# PE14 SPI4_MOSI SPI4
+# PE11 FLASH_CS CS
+
+# I2C bus
+I2C_ORDER I2C2
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_CURR_PIN 7
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_CURR_SCALE 10.0
+
+# LED
+# green LED1 marked as B/E
+# blue LED0 marked as ACT
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+PE3 LED0 OUTPUT LOW GPIO(90)
+PE4 LED1 OUTPUT LOW GPIO(91)
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8
+
+# USART1
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
+
+# UART4 (RCIN)
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN
+
+# USART6
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
+
+# UART7
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# UART8
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# Motors
+PB0  TIM3_CH3  TIM3  PWM(1)  GPIO(50) BIDIR # M1
+PB1  TIM3_CH4  TIM3  PWM(2)  GPIO(51)       # M2
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52) BIDIR # M3
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)       # M4
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54) BIDIR # M5
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)       # M6
+PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56)       # M7
+PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)       # M8
+PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58)       # S5
+PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59)       # S6
+
+# buzzer
+PB2 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# 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
+
+# GPIOs
+PD10 PINIO1 OUTPUT GPIO(81) LOW
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 32768
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+
+# spi devices
+SPIDEV icm42688  SPI1 DEVID1 IMU1_CS      MODE3  2*MHZ 16*MHZ
+SPIDEV osd       SPI2 DEVID2 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
+
+# IMU
+IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
+BARO DPS310 I2C:0:0x76
+BARO BMP280 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin