AP_HAL_Chibios: Add ArtosynH743 hwdef

Author: FractalEngineer

libraries/AP_HAL_ChibiOS/hwdef/ArtosynH743/defaults.param

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+# Set relay 1 as cam switch
+RELAY1_PIN 70
+RELAY1_FUNCTION 1

libraries/AP_HAL_ChibiOS/hwdef/ArtosynH743/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the artosynH743 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_ArtosynH743
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# flash size
+FLASH_SIZE_KB 2048
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# order of UARTs (and USB)
+SERIAL_ORDER  OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# UARTs
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+PA2  USART2_TX USART2
+PA3  USART2_RX USART2
+PD8  USART3_TX USART3
+PD9  USART3_RX USART3
+PA0  UART4_TX  UART4
+PA1  UART4_RX  UART4
+PB6  UART5_TX  UART5
+PB5  UART5_RX  UART5
+PC6  USART6_TX USART6
+PC7  USART6_RX USART6
+PE8  UART7_TX  UART7
+PE7  UART7_RX  UART7
+PE1  UART8_TX  UART8
+PE0  UART8_RX  UART8
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# order of I2C
+I2C_ORDER I2C2 I2C1
+
+# I2C
+PB8  I2C1_SCL I2C1
+PB9  I2C1_SDA I2C1
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# PWM
+PE14 TIM1_CH4  TIM1  PWM(1)  GPIO(50) BIDIR
+PE13 TIM1_CH3  TIM1  PWM(2)  GPIO(51)
+PE11 TIM1_CH2  TIM1  PWM(3)  GPIO(52) BIDIR
+PE9  TIM1_CH1  TIM1  PWM(4)  GPIO(53)
+PB1  TIM3_CH4  TIM3  PWM(5)  GPIO(54) BIDIR
+PB0  TIM3_CH3  TIM3  PWM(6)  GPIO(55)
+PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56) BIDIR
+PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
+PE5  TIM15_CH1 TIM15 PWM(9)  GPIO(58)
+PE6  TIM15_CH2 TIM15 PWM(10) GPIO(59)
+
+# LED-pad
+PD14 TIM4_CH3  TIM4  PWM(11) GPIO(60) #M11
+
+# BUZZER
+PD15 BUZZER OUTPUT GPIO(61) LOW
+define HAL_BUZZER_PIN 61
+
+# LEDs
+PE3 LED_RED   OUTPUT LOW GPIO(0)
+PE2 LED_GREEN OUTPUT LOW GPIO(1)
+PE4 LED_BLUE  OUTPUT LOW GPIO(2)
+
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
+
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+
+# ADC for Power
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# setup for battery
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 21.12
+define HAL_BATT_CURR_SCALE 40.2
+
+# compass
+define HAL_COMPASS_DISABLE_QMC5883L_INTERNAL_PROBE
+define AP_COMPASS_PROBING_ENABLED 1
+COMPASS QMC5883L I2C:ALL_EXTERNAL:0x0D true  ROTATION_NONE
+COMPASS QMC5883L I2C:ALL_INTERNAL:0x0D false ROTATION_NONE
+
+# microSD support
+PC12 SDMMC1_CK  SDMMC1
+PD2  SDMMC1_CMD SDMMC1
+PC8  SDMMC1_D0  SDMMC1
+PC9  SDMMC1_D1  SDMMC1
+PC10 SDMMC1_D2  SDMMC1
+PC11 SDMMC1_D3  SDMMC1
+define FATFS_HAL_DEVICE SDCD1
+
+# SPI1 - OSD
+PA5  SPI1_SCK        SPI1
+PA6  SPI1_MISO       SPI1
+PA7  SPI1_MOSI       SPI1
+PB12 AT7456E_CS      CS
+
+# SPI2 - ICM-42688P (IMU1)
+PD3  SPI2_SCK        SPI2
+PC2  SPI2_MISO       SPI2
+PC3  SPI2_MOSI       SPI2
+PD5  ICM42688_1_CS   CS
+PC15 DRDY1_ICM42688  INPUT
+
+# SPI3 - ICM-42688P (IMU2)
+PB3  SPI3_SCK        SPI3
+PB4  SPI3_MISO       SPI3
+PD6  SPI3_MOSI       SPI3
+PA15 ICM42688_2_CS   CS
+PB7  DRDY2_ICM42688  INPUT
+
+# SPI devices
+SPIDEV  icm42688_1  SPI2  DEVID1  ICM42688_1_CS  MODE3   1*MHZ  24*MHZ
+SPIDEV  icm42688_2  SPI3  DEVID2  ICM42688_2_CS  MODE3   1*MHZ  24*MHZ
+SPIDEV  osd         SPI1  DEVID4  AT7456E_CS     MODE0  10*MHZ  10*MHZ
+
+# 2 IMUs - ICM-42688P
+# ROTATION_ROLL_180_YAW_90 matches typical FC mounting; adjust per board layout
+IMU Invensensev3 SPI:icm42688_1 ROTATION_ROLL_180_YAW_90
+IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180
+
+# barometer - BMP390 on I2C bus 0 (I2C2), default address 0x77
+# SDO pin low = 0x76, SDO pin high = 0x77
+BARO BMP390 I2C:0:0x77
+
+# Camera switch via PinIO1 on PD4 (formerly BMI088_A_CS, now repurposed)
+PD4 PINIO1 OUTPUT GPIO(70) LOW
+define HAL_PINIO_PIN_COUNT 1
+define HAL_PINIO1_PIN 70
+define HAL_PINIO1_PARAMS 0
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# setup for serial ports
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
+define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL8_BAUD 115
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# setup for BF migration
+define HAL_FRAME_TYPE 12