AP_HAL_ChibiOS: add DroneerF405

libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/README.md

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+# Droneer F405 Flight Controller
+
+The Droneer F405 is a flight controller produced by [Droneer](http://www.droneer.com/).
+
+## Features
+
+ - STM32F405 microcontroller
+ - ICM42688-P IMU
+ - max7456 OSD
+ - 5 UARTs
+ - 9 PWM outputs
+ - Dual Camera inputs
+ - 3S to 8S LIPO operation
+ - 5V,3A BEC, 10V,2A VTX BEC
+ - Physical: 37x37mm, 7g
+
+## Pinout
+
+![Droneer F405](DroneerF405_Board_Bottom.jpg "Droneer F405")
+![Droneer F405](DroneerF405_Board_Top.jpg "Droneer F405")
+
+## 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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (Tramp)
+ - SERIAL2 -> UART2 (RCIN, DMA-enabled) 
+ - SERIAL3 -> UART3 (User)
+ - SERIAL4 -> UART4 (GPS)
+ - SERIAL5 -> UART5 (ESC Telem, on ESC connector)
+
+## RC Input
+
+The SBUS pin (SBU), is passed by an inverter to RX2 (UART2 RX), which can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2. CRSF/ELRS and SRXL2 require the RX2 and TX2 pin be connected instead of the SBUS pin.
+* SRXL2 requires SERIAL2_OPTIONS be set to “4”.
+* Fport should be connected to TX2 via a bi-directional inverter and SERIAL2_OPTIONS be set to “4”.
+Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM (SBUS requires external inversion on other UARTs). See Radio Control Systems for details.
+
+RC input is configured on the R2 (UART2_RX) pin for most RC unidirectional protocols except SBUS which should be applied at the SBUS pin. PPM is not supported.
+For Fport, a bi-directional inverter will be required. See https://ardupilot.org/plane/docs/common-connecting-sport-fport.html
+For CRSF/ELRS/SRXL2 connection of the receiver to T2 will also be required.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the Tx pin of any UART including SERIAL2/UART2. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL3).
+ 
+  - SERIAL3_PROTOCOL 10
+  - SERIAL3_OPTIONS 7
+
+ ## OSD Support
+
+The Droneer F405 supports analog OSD using OSD_TYPE 1 (MAX7456 driver). Simultaneous HD TVX OSD operation can also be obtained using an available UART whose protocol is set to "DisplayPort (42)" and OSD_TYPE2 set to "5". 
+
+The JST-GH-4P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect
+this to a peripheral requiring 5v.
+
+## PWM Output
+
+The Droneer F405 supports up to 9 PWM outputs. The pads for motor output
+M1 to M4 on the motor connector, plus M9(marked LED) for LED strip or another
+PWM output.
+
+The PWM is in 3 groups:
+
+ - PWM 1-4 in group1
+ - PWM 5-8 in group2
+ - PWM 9 in group3
+
+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. Channels 1-4 support bi-directional DShot.
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 8S.
+LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 11
+ - BATT_AMP_PERVLT 30.2 (will need to be adjusted for whichever current sensor is attached)
+
+## Compass
+
+The Droneer F405 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Firmware
+Firmware for this board can be found here in sub-folders labeled “DroneerF405i”.
+
+## 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/DroneerF405/hwdef-bl.dat

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+# hw definition file for Droneer
+# tested on the Droneer F405
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_DroneerF405
+
+FLASH_RESERVE_START_KB 0
+FLASH_SIZE_KB 1024
+FLASH_BOOTLOADER_LOAD_KB 64
+
+#PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0)  # blue
+PC13 LED_ACTIVITY OUTPUT LOW GPIO(1)  # Green
+define HAL_LED_ON 0
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART1
+
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+
+# Add CS pins to ensure they are high in bootloader
+PA4 IMU_CS CS
+PA13 OSD_CS CS
+PC0 FLASH_CS CS
+#PC1  SDCARD_CS CS
+
+# Turn on switched supply and camera switch/output during bootloader to match default
+#PA4  PINIO1 OUTPUT LOW
+#PB5  PINIO2 OUTPUT LOW

libraries/AP_HAL_ChibiOS/hwdef/DroneerF405/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# Droneer F405
+# With F405 MCU, ICM42688P IMU and 7456 series OSD
+# Based on DroneerF450 from Droneer
+
+# MCU class and specific type.
+MCU STM32F4xx STM32F405xx
+
+HAL_CHIBIOS_ARCH_F405 1
+
+# board ID for firmware load
+APJ_BOARD_ID 5800
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board voltage
+STM32_VDD 330U
+
+STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 16
+
+# order of I2C buses
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+# this order follows the labels on the board
+# namely COMPUTER, PPM/SBUS (configurable as USART), TX3/RX3, TX6/RX6
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 
+
+# The pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PC5 VBUS INPUT OPENDRAIN
+
+# USART1(VTX)
+PA9  USART1_TX USART1 NODMA
+PA10 USART1_RX USART1 NODMA
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_Tramp
+
+# USART2, RC input
+PA2 USART2_TX USART2 
+PA3 USART2_RX USART2
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# default to timer for RC input
+#PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
+
+# USART3
+PC10  USART3_TX USART3 NODMA
+PC11  USART3_RX USART3 NODMA
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
+
+# UART4
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+
+# UART5
+PC12 UART5_TX UART5 NODMA
+PD2  UART5_RX UART5 NODMA
+
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
+
+# The pins for SWD debugging with a STlinkv2 or black-magic probe (not tested)
+#PA13 JTMS-SWDIO SWD
+#PA14 JTCK-SWCLK SWD
+
+
+
+# PWM output. 1 - 8 on ESC header
+# --------------------- PWM -----------------------
+PC6  TIM8_CH1   TIM8  PWM(1)  GPIO(50) BIDIR
+PC7  TIM8_CH2   TIM8  PWM(2)  GPIO(51)
+PC8  TIM8_CH3   TIM8  PWM(3)  GPIO(52)
+PC9  TIM8_CH4   TIM8  PWM(4)  GPIO(53) BIDIR
+PA15 TIM2_CH1   TIM2  PWM(5)  GPIO(54)
+PA8  TIM1_CH1   TIM1  PWM(6)  GPIO(55)
+PB10 TIM2_CH3   TIM2  PWM(7)  GPIO(56)
+PB11 TIM2_CH4   TIM2  PWM(8)  GPIO(57) 
+
+PB1  TIM3_CH4   TIM3  PWM(9)  GPIO(58)
+
+# Board LEDs
+PC13 LED_GREEN OUTPUT LOW GPIO(80)
+define HAL_GPIO_A_LED_PIN 80
+
+# External LEDs
+#PB1 LED_STRIP OUTPUT GPIO(81) LOW
+#define HAL_LED_STRIP_PIN 81
+
+# Buzzer
+#PB8 BUZZER OUTPUT GPIO(82) LOW
+#define HAL_BUZZER_PIN 82
+
+# Camera control
+PA14 CAM_C OUTPUT HIGH GPIO(83)
+define RELAY2_PIN_DEFAULT 83
+
+# Note that this board needs PULLUP on I2C pins
+PB6 I2C1_SCL I2C1 PULLUP
+PB7 I2C1_SDA I2C1 PULLUP
+
+# SPI1 - Internal IMU
+PA4 MPU6000_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 - OSD
+PB15 SPI2_MOSI SPI2
+PB14 SPI2_MISO SPI2
+PB13 SPI2_SCK SPI2
+# OSD max7456
+PA13 OSD_CS CS
+
+# SPI3 - dataflash
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+# Dataflash M25P16
+PC0 FLASH_CS CS
+
+# SPI Device table
+SPIDEV icm42688   SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ
+SPIDEV osd        SPI2 DEVID1 OSD_CS     MODE0 10*MHZ 10*MHZ
+SPIDEV dataflash  SPI3 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
+
+# One IMU rotated in yaw
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
+
+# Probe for I2C SPL06
+BARO SPL06  I2C:0:0x76
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_SPL06_ENABLED 1
+define HAL_BARO_ALLOW_INIT_NO_BARO 1
+
+# 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
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 1
+
+# flash size
+FLASH_SIZE_KB 1024
+# reserve 32k for bootloader and 32k for flash storage
+FLASH_RESERVE_START_KB 64
+
+# ADC
+PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC3 RSSI_ADC ADC1 SCALE(1)
+
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 11
+define HAL_BATT_CURR_SCALE 30.2
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# Analog RSSI pin (also could be used as analog airspeed input)
+define BOARD_RSSI_ANA_PIN 12
+
+# Setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+# Font for the osd
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+DMA_PRIORITY TIM8* TIM3*
+
+# minimal drivers to reduce flash usage
+include ../include/minimize_fpv_osd.inc
+