AP_HAL_ChibiOS: add new board BlitzF745AIO

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/README.md

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+# iFlight BLITZ Whoop F7 AIO Flight Controller
+
+https://shop.iflight-rc.com/BLITZ-Whoop-F7-AIO-Pro1927
+
+The Blitz F7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/).
+
+## Features
+
+ - MCU: BGA-STM32F745, 216MHz
+ - Gyro: DPS310
+ - 16Mb Onboard Flash
+ - BEC output: 5V 2.5A
+ - Barometer: DPS310 or None
+ - OSD: AT7456E
+ - 5 UARTS: (UART1, UART2, UART3, UART4, UART7)
+ - I2C for external compass.
+ - 5 PWM outputs (4 motor outputs used internally for integrated 4-in-1 ESC and 1 integrated LED)
+ - Integrated 55A 4-in-1 BLHeli_S / BlueJay ESC
+
+## Pinout
+
+![BLITZ Whoop F7 AIO Board](blitz_f7_pinout.jpg "BLITZ Whoop F7 AIO")
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL0|COMPUTER|USB|
+|SERIAL1|RX1/TX1|UART1 (DJI connector, DMA-enabled)|
+|SERIAL2|TX2/RX2|UART2 (DJI connector RX, DMA-enabled, TX is on the back side of board)|
+|SERIAL3|TX3/RX3|UART3 (Alt RX or GPS, DMA-enabled)|
+|SERIAL4|TX4/RX4|UART4|
+|SERIAL7|TX7/RX7|UART7|
+
+## RC Input
+
+RC input is configured on the (UART2_RX/UART2_TX) pins which forms part of the DJI connector. It supports all RC protocols.
+
+## OSD Support
+
+The BLITZ Whoop F7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The BLITZ Whoop F7 AIO has 4 PWM outputs internally connected to its 4-in-1 ESC. The pads for motor output are M1 to M4 on the board. All 4 outputs support bi-directional DShot and DShot, as well as all PWM types. The default configuration is for bi-directional DShot using the already installed BlueJay firmware.
+
+The PWM are in in two groups:
+
+ - PWM 1-4 in group1
+ - PWM 5   in group2
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot.
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor and a current sensor input tied to its 4 in 1 ESC current sensor. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_VOLT_MULT 10.9
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT 50
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The BLITZ Whoop F7 AIO does not have a builtin compass, but you can attach an external compass to I2C pins.
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output.
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/defaults.parm

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+# setup for LEDs on chan5
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
+# Bluejay installed by default
+SERVO_BLH_AUTO 1
+SERVO_BLH_BDMASK 15
+SERVO_DSHOT_ESC 2
+MOT_PWM_TYPE 6

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for IFLIGHT_BLITZ_F7_AIO hardware.
+# thanks to betaflight for pin information
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1117
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 96
+
+# order of UARTs (and USB)
+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
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PE4 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+PD15 LED0 OUTPUT LOW GPIO(90) # Blue LED
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for IFLIGHT_BLITZ_F7_AIO hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F7xx STM32F745xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1117
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader takes first sector - and parameters come directly after that
+FLASH_RESERVE_START_KB 96
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# STM32_ST_USE_TIMER 5
+
+# SPI devices
+
+# SPI1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PD6 SPI3_MOSI SPI3
+
+# SPI4
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PE4 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+PD3 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
+# PA10 IO-debug-console
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1 (DJI)
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+define HAL_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV
+
+# USART2 (RX)
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# USART3 (Alt RX or GPS)
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+define HAL_SERIAL3_PROTOCOL SerialProtocol_GPS
+define HAL_SERIAL7_BAUD 38
+
+# UART4
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+define HAL_SERIAL4_PROTOCOL SerialProtocol_None
+
+# UART7
+PE8 UART7_TX UART7 NODMA
+PE7 UART7_RX UART7 NODMA
+define HAL_SERIAL7_PROTOCOL SerialProtocol_None
+
+# I2C4 for baro
+I2C_ORDER I2C1 I2C4
+PB8 I2C1_SCL I2C1 PULLUP
+PB9 I2C1_SDA I2C1 PULLUP
+
+PD12 I2C4_SCL I2C4 PULLUP
+PD13 I2C4_SDA I2C4 PULLUP
+
+PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 13
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_VOLT_SCALE 10.9
+define HAL_BATT_CURR_SCALE 50
+define HAL_BATT_MONITOR_DEFAULT 4
+
+PC5 RSSI_ADC ADC1
+
+define BOARD_RSSI_ANA_PIN 15
+
+# Motors
+PB4  TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR    # 1
+PB0  TIM3_CH3 TIM3 PWM(2) GPIO(51) BIDIR    # 2
+PB5  TIM3_CH2 TIM3 PWM(3) GPIO(52)          # 3
+PB1  TIM3_CH4 TIM3 PWM(4) GPIO(53)          # 4
+
+## NeoPixel LED strip
+PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54)
+PD15 LED0 OUTPUT LOW GPIO(90) # Blue LED
+
+DMA_PRIORITY USART2* TIM3*
+
+
+#DMA_NOSHARE SPI3* TIM3_UP
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+
+# Dataflash setup
+SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+SPIDEV bmi270    SPI1 DEVID1 GYRO1_CS      MODE3 2*MHZ 10*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD setup
+# SPIDEV osd SPI4 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# Barometer setup
+BARO DPS310 I2C:1:0x76
+        
+# no built-in compass
+define ALLOW_ARM_NO_COMPASS
+define HAL_I2C_INTERNAL_MASK 0
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+# save some flash
+include ../include/save_some_flash.inc
+
+# one IMU: bmi270
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_135
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# This is a whoop AIO board, not really suitable for anything other than copter
+AUTOBUILD_TARGETS Copter