AP_HAL_ChibiOS: Added RADIX2HD

libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md

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+# BrainFPV RADIX 2 HD Flight Controller
+
+The BrainFPV RADIX 2 HD is a flight controller primarily intended for
+First Person View (FPV) applications that use a HD (digital) FPV system.
+
+For the full documentation, refer to the [BrainFPV website](https://www.brainfpv.com/kb/radix-2-hd/).
+
+## Features
+
+ - STM32H750 microcontroller
+ - IMU: Bosch Sensortec BMI270
+ - Barometer: Infineon DPS310
+ - Onboard flash: 16 MB connected via QUADSPI
+ - microSD slot
+ - 5 UARTs plus USB (6 UARTs with alternate board config)
+ - 10 PWM outputs (8 supporting BDSHOT on dual 4-in-1 ESC connectors)
+ - I2C and CAN port
+ - Builtin RGB LED
+ - Analog input for voltage sensing, up to 12S (52 V)
+ - Analog input for current sensing
+ - Analog input for RSSI
+ - External buzzer
+ - USB Type-C connector
+ - Battery voltage 3S-8S (35 V)
+ - 5 V / 1.5 A voltage regulator for powering flight controller and external devices
+ - 9 V / 2 A voltage regulator for HD FPV system (can be turned on/off using the Relay2 switch)
+ - Size: 37 x 37 mm (30.5 mm hole spacing)
+ - Weight: 7g
+ - Made in the USA, NDAA compliant
+
+## Pinout
+
+![RADIX2HD Board Top](radix_2_hd_pinout_top.png "RADIX2HD Top")
+
+![RADIX2HD Board Bottom](radix_2_hd_pinout_bottom.png "RADIX2HD Bottom")
+
+Refer to the [full documentation](https://www.brainfpv.com/kb/radix-2-hd/) for details
+and how to use the "PWR:VBAT" jumper.
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (DMA-enabled, MSP DisplayPort OSD)
+ - SERIAL2 -> UART2 (DMA-enabled, GPS)
+ - SERIAL3 -> UART3 (DMA-enabled, RCin)
+ - SERIAL4 -> UART4 (spare)
+ - SERIAL5 -> UART5 (spare)
+ - SERIAL6 -> UART6 (spare, PWM 9 and 10 by default, use BRD_ALT_CONFIG = 1 for UART)
+
+## RC Input
+
+By default, SERIAL3 is used for RC input. The RC receiver 5 V pad next to RX3 ("+") is
+also powered from USB for easy and safe configuration without having to connect the main
+battery.
+
+## PWM Output
+
+The RADIX 2 HD has a total of 10 PWM outputs. The first 8 outputs support BDSHOT and
+are on two 4-in-1 ESC connectors. The PWM outputs are in groups of 2 channels each,
+all channels in the same group need to use the same configuration / rate.
+
+ - PWM 1-2 Group 1
+ - PWM 3-4 Group 2
+ - PWM 5-6 Group 3
+ - PWM 7-8 Group 4
+ - PWM 9-10 Group 5 (These are on the TX6 and RX6 pads that can also be used for SERIAL6)
+
+## Analog inputs
+
+The RADIX 2 HD has 3 analog inputs:
+
+ - ADC Pin 10 -> Battery Voltage (VBAT pin, builtin 1:17.6 voltage divider)
+ - ADC Pin 3  -> Battery Current Sensor (CUR pin)
+ - ADC Pin 11 -> RSSI voltage monitoring (RSSI pad)
+
+## Battery Monitoring
+
+The RADIX 2 HD can monitor battery voltages up to 12S using a built-in voltage divider.
+The board itself can be powered by battery voltages up to 8S (35 V) and there is a jumper
+to use the same pin for battery voltage monitoring and for powering the board.
+
+WARNING Powering the board with more than 8S (35 V) with the "PWR:VBAT" jumper soldered
+will damage it. Refer to the official documentation for more details.
+
+In addition to voltage sensing, the board also has an input for an external current sensor.
+
+## Loading Firmware
+
+The RADIX 2 HD uses a proprietary bootloader. To load firmware, download the firmware binary file
+from the [BrainFPV website](https://www.brainfpv.com/firmware) and copy it to the USB drive
+that appears when connecting the RADIX 2 HD to your computer when it is in bootloader mode
+(hold the BOOT button and release when connecting to USB).
+
+Note: When using Ardupilot, it is necessary to have a microSD card inserted, without it
+the firmware won't run.
+
+Alternatively, you can create your own firmware file using the [BrainFPV Firmware Packer](https://github.com/BrainFPV/brainfpv_fw_packer).
+To create a file for Ardupilot, install the BrainFPV Firmware Packer:
+
+    pip install git+https://github.com/BrainFPV/brainfpv_fw_packer.git
+
+After that, build the Copter firmware:
+
+    ./waf configure --board RADIX2HD
+    ./waf copter
+
+Finally, use the firmware packer script to create the firmware file that can be used with the
+BrainFPV bootloader:
+
+    ./libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh copter
+
+To use it, copy the resulting `arducopter_{VERSION}_brainfpv.bin` to the USB drive that appears
+when the RADIX 2 HD is in bootloader mode. Once it finishes copying, safely remove the drive.
+At this point the RADIX 2 HD will reboot and run the Copter firmware.

libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/defaults.parm

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+# CRSF receiver on UART3
+SERIAL3_PROTOCOL 23
+RSSI_TYPE 3
+
+# MSP DisplayPort OSD on UART1
+OSD_TYPE 5
+SERIAL1_PROTOCOL 42
+
+# GPS on UART2
+SERIAL2_PROTOCOL 5
+
+# 9V regulator switch, ON on boot
+RELAY_DEFAULT 1

libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for BrainFPV RADIX 2 HD
+
+# MCU class and specific type
+MCU STM32H7xx STM32H750xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1118
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 16000000
+
+MCU_CLOCKRATE_MHZ 480
+
+env OPTIMIZE -O2
+
+define HAL_WITH_EKF_DOUBLE 0
+
+STM32_ST_USE_TIMER 13
+define CH_CFG_ST_RESOLUTION 16
+
+# internal flash is off limits
+FLASH_SIZE_KB 128
+FLASH_RESERVE_START_KB 0
+define HAL_FLASH_PROTECTION 1
+
+EXT_FLASH_SIZE_MB 16
+EXT_FLASH_RESERVE_START_KB 4096
+EXT_FLASH_RESERVE_END_KB 0
+
+# Supports upto 2 MBits/s
+CANFD_SUPPORTED 2
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
+
+# I2C1 for baro
+PB6 I2C1_SCL I2C1 PULLUP
+PB7 I2C1_SDA I2C1 PULLUP
+
+# Analog inputs
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA6 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC1 RSSI_ADC ADC1
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 3
+define HAL_BATT_VOLT_SCALE 17.6
+define HAL_BATT_CURR_SCALE 28.5
+define BOARD_RSSI_ANA_PIN 11
+
+# Debug
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1 (HD OSD)
+PB15 USART1_RX USART1
+PB14 USART1_TX USART1
+
+# USART2 (GPS)
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+
+# USART3 (RC input)
+PB11 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART4 (ESC telemetry)
+PB8 UART4_RX UART4 NODMA
+PA0 UART4_TX UART4 NODMA
+
+# UART5 (spare)
+PB12 UART5_RX UART5 NODMA
+PB13 UART5_TX UART5 NODMA
+
+# USART6 (spare)
+PC7 USART6_RX USART6 NODMA ALT(1)
+PC6 USART6_TX USART6 NODMA ALT(1)
+
+# TODO: USART7 (RX only)
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# SP1 for BMI270
+PA5 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PD3 BMI270_CS CS
+
+# SD card
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# QuadSPI Flash running at 120 MHz from HCLK
+define HAL_FORCE_CLOCK_INIT
+define STM32_QSPISEL STM32_QSPISEL_HCLK
+PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
+PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
+PE2 QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
+PA1 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
+PB10 QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
+PB2 QUADSPI_CLK QUADSPI1 SPEED_HIGH
+
+# Motors
+PE11 TIM1_CH2 TIM1 PWM(1)  GPIO(50) BIDIR # M1
+PE13 TIM1_CH3 TIM1 PWM(2)  GPIO(51) BIDIR # M2
+PA15 TIM2_CH1 TIM2 PWM(3)  GPIO(52) BIDIR # M3
+PA2  TIM2_CH3 TIM2 PWM(4)  GPIO(53) BIDIR # M4
+PB5  TIM3_CH2 TIM3 PWM(5)  GPIO(54) BIDIR # M5
+PB0  TIM3_CH3 TIM3 PWM(6)  GPIO(55) BIDIR # M6
+PD13 TIM4_CH2 TIM4 PWM(7)  GPIO(56) BIDIR # M7
+PD14 TIM4_CH3 TIM4 PWM(8)  GPIO(57) BIDIR # M8
+
+# PWM output on UART6 TX and RX pins
+PC6 TIM8_CH1 TIM8 PWM(9)  GPIO(58) NODMA # TX6
+PC7 TIM8_CH2 TIM8 PWM(10) GPIO(59) NODMA # RX6
+
+# RGB LED output: Currently not working: Needs to be inverted due to level shifter
+PA3 TIM5_CH4 TIM5 PWM(11) GPIO(60)
+
+# Buzzer pin
+PE4 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
+define HAL_BUZZER_PIN 80
+define AP_NOTIFY_TONEALARM_ENABLED 1
+
+# LEDs
+PE5 LED_RED OUTPUT HIGH OPENDRAIN GPIO(10)
+PE6 LED_GREEN OUTPUT HIGH OPENDRAIN GPIO(11)
+PA7 LED_BLUE OUTPUT HIGH OPENDRAIN GPIO(12)
+
+define HAL_GPIO_A_LED_PIN 10
+define HAL_GPIO_B_LED_PIN 11
+define HAL_GPIO_C_LED_PIN 12
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+define HAL_HAVE_PIXRACER_LED
+
+# 9V regulator switch
+PC14 VTX_PWR OUTPUT HIGH GPIO(81)
+define RELAY2_PIN_DEFAULT 81
+
+SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3  2*MHZ  10*MHZ
+
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+
+BARO DPS310 I2C:0:0x76
+
+# filesystem setup on sdcard
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+define HAL_STORAGE_SIZE 16384
+
+# DMA
+DMA_PRIORITY SPI1*
+DMA_NOSHARE SPI1* TIM1* TIM2* TIM3* TIM4*
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE

libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh

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+#!/usr/bin/env bash
+
+# Example script to pack firmware for RADIX 2 HD
+# Get the firmware packer tool from here: https://github.com/BrainFPV/brainfpv_fw_packer
+
+# Get version information
+GIT_VER=$(git describe HEAD 2>&1)
+GIT_SHA1=$(git rev-parse HEAD)
+
+TARGET_BUILD_DIR=./build/RADIX2HD/bin
+FW_ELF=${TARGET_BUILD_DIR}/ardu$1
+FW_HEX=${TARGET_BUILD_DIR}/ardu$1.hex
+FW_PACKED=${TARGET_BUILD_DIR}/ardu$1_${GIT_VER}_brainfpv.bin
+
+# Create hex file
+arm-none-eabi-objcopy -O ihex ${FW_ELF} ${FW_HEX}
+
+# Create binary for BrainFPV bootloader
+brainfpv_fw_packer.py \
+    --name ardu$1 \
+    --version ${GIT_VER} \
+    --sha1 ${GIT_SHA1} \
+    --in ${FW_HEX} --out ${FW_PACKED} \
+    --dev radix2hd -t firmware -b 0x90400000 -z --noheader