hwdef: update SIYI_N7 hwdef

the N7 isn't the same as the Durandal. It has 1 CAN bus, and 2 less
UARTs, and an extra compass. This fixes the hwdef.dat to match the
schematic

libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef-bl.dat

@@ -1,8 +1,46 @@
-include ../Durandal/hwdef-bl.dat
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
 
 # board ID for firmware load
 APJ_BOARD_ID 1123
 
-undef USB_VENDOR
-undef USB_PRODUCT
-undef USB_STRING_MANUFACTURER
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+FLASH_BOOTLOADER_LOAD_KB 128
+
+PB1 LED_RED OUTPUT LOW # red
+PC6 LED_ACTIVITY OUTPUT LOW # green
+PC7 LED_BOOTLOADER OUTPUT LOW # blue
+define HAL_LED_ON 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# pullup buzzer for no sound in bootloader
+PE5 BUZZER OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PF10 MS5611_CS CS
+PF2  ICM20689_CS CS
+PF4  BMI055_G_CS CS
+PG10 BMI055_A_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW

libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef.dat

@@ -1,8 +1,232 @@
-include ../Durandal/hwdef.dat
+# hw definition file for processing by chibios_hwdef.py
+
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
 
 # board ID for firmware load
 APJ_BOARD_ID 1123
 
-undef USB_VENDOR
-undef USB_PRODUCT
-undef USB_STRING_MANUFACTURER
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 EMPTY USART1 UART4 UART7 OTG2
+
+# default the 2nd interface to MAVLink2
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+define HAL_STORAGE_SIZE 32768
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# debug pins
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 - internal sensors
+PG11 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI2 - FRAM
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+
+# SPI4 - sensors2
+PE2 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# sensor CS
+PF10 MS5611_CS CS
+PF2  ICM20689_CS CS
+PF4  BMI088_G_CS CS
+PG10 BMI088_A_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW
+
+# I2C buses
+
+# I2C1 is on GPS port
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# I2C on uart4 connector
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C for onboard mag
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4 is on external2
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C1 I2C2 I2C4
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# enable pins
+PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
+PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# drdy pins
+PB4  DRDY_ICM20689 INPUT
+PB14 DRDY_BMI088_GYRO INPUT
+PB15 DRDY_BMI088_ACC INPUT
+
+PD15 DRDY7_EXTERNAL INPUT
+
+# UARTs
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART1 is GPS1
+PB7 USART1_RX USART1 NODMA
+PB6 USART1_TX USART1 NODMA
+
+# UART4 GPS2
+PD0 UART4_RX UART4 NODMA
+PD1 UART4_TX UART4 NODMA
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# UART8 is for IOMCU
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# UART for IOMCU
+IOMCU_UART UART8
+
+# PWM AUX channels
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
+PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+
+# PWM output for buzzer
+PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
+
+# analog in
+PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PC0 VDD_5V_SENS ADC1 SCALE(2)
+PC1 SCALED_V3V3 ADC1 SCALE(2)
+
+# voltage divider 1/(16.9/(33+16.9))
+define HAL_IOMCU_VSERVO_SCALAR 1 / (16.9 / (33 + 16.9))
+
+# CAN bus
+PI9  CAN1_RX CAN1
+PH13 CAN1_TX CAN1
+
+PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# GPIOs
+PA7 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+
+PH5 AUX_CS CS
+
+PG1 VDD_BRICK_nVALID INPUT PULLUP
+PG2 VDD_BRICK2_nVALID INPUT PULLUP
+PA9 VBUS INPUT
+PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
+PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
+PB10 nSPI5_RESET_EXTERNAL OUTPUT HIGH
+
+# SPI devices
+SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
+SPIDEV icm20689       SPI1 DEVID1  ICM20689_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV bmi088_g       SPI1 DEVID3  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a       SPI1 DEVID4  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
+SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 
+
+# Two IMUs
+IMU Invensense SPI:icm20689 ROTATION_NONE
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# 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
+
+# red LED
+PB1 LED_RED OUTPUT GPIO(90)
+
+# green LED
+PC6 LED_GREEN OUTPUT GPIO(91) LOW
+
+# blue LED
+PC7 LED_BLUE OUTPUT GPIO(92) HIGH
+
+# setup for 3 LEDs
+define HAL_HAVE_PIXRACER_LED
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 91
+define HAL_GPIO_C_LED_PIN 92
+define HAL_GPIO_LED_ON 0
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# safety switch pin
+PE10 LED_SAFETY OUTPUT
+PE12 SAFETY_IN INPUT PULLDOWN
+define HAL_HAVE_SAFETY_SWITCH 1
+
+# one baro
+BARO MS56XX SPI:ms5611
+
+# one builtin compass
+COMPASS IST8310 I2C:0:0x0e false ROTATION_NONE
+
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# don't share IOMCU DMA
+DMA_NOSHARE UART8* SPI1* TIM*UP*
+
+DMA_PRIORITY UART8* ADC* SPI1*
+
+# battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 16
+define HAL_BATT_CURR_PIN 17
+define HAL_BATT_VOLT_SCALE 18.182
+define HAL_BATT_CURR_SCALE 36.364
+
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin